Name
Abstract | ||
|---|---|---|
In this article, we have demonstrated, through the parking and leaving example, how high-level specifications containing multiple temporally dependent goals can be given to a team of realistic robots, which in turn automatically satisfy them. By switching between low-level feedback control policies and moving in a well-behaved environment, the correctness of each robot's behavior is guaranteed by the automaton. The system satisfies the high-level specification without needing to plan the low-level motions in configuration space. Sensor inputs play a crucial role in this framework. A hazard input becoming true at the wrong time may lead to deadlock. Deciding when and how long to stop is a hard problem even for humans, as sometimes demonstrated at four-way stops, let alone robots. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/M-RA.2007.914921 | IEEE Robot. Automat. Mag. |
Keywords | DocType | Volume |
Robotics and automation,Robot kinematics,Robot sensing systems,Feedback control,Automata,Orbital robotics,Logic,Automatic control,Computer science,Shape | Journal | 15 |
Issue | ISSN | Citations |
1 | 1070-9932 | 2 |
PageRank | References | Authors |
0.43 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hadas Kress-Gazit | 1 | 727 | 58.58 |
| David Conner | 2 | 2 | 0.43 |
| Howie Choset | 3 | 2826 | 257.12 |
| Alfred A. Rizzi | 4 | 1208 | 179.03 |
| George Pappas | 5 | 6632 | 540.42 |