Language-measure-based supervisory control of a mobile robot

Xi Wang, Goutham Mallapragada, Asok Ray

Research output: Contribution to journalConference article

1 Scopus citations

Abstract

This paper presents the design, modelling, and supervisory control of a mobile robot based on a signed real measure of its automaton (i.e., discrete-event behavior) language. While the robot's dynamic behavior is manipulated in the continuous-time domain via motion control and visual servoing, the mission planning is performed in the discrete-event supervisory control setting. However, unlike the conventional qualitative framework of supervisory control following the Ramadge-Wonham approach that is based on a set of specified constraints, a quantitative approach has been adopted for synthesis of optimal supervisory controllers in robotic scenarios with a language measure being the performance index. The parameters of the language measure are identified via both experimental observations and simulation runs; the results are consistent with each other as well as with other measures. This approach complements the Q-learning method that has been widely used in robotics research to learn primitive behaviors.

Original languageEnglish (US)
Article numberFrC11.1
Pages (from-to)4897-4902
Number of pages6
JournalProceedings of the American Control Conference
Volume7
StatePublished - Sep 1 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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