E. Rutten, "A framework for using discrete control synthesis in safe robotic programming and teleoperation," IEEE International Conference Robotics & Automation, pp. 4104--4109, May 2001.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....properties of robotics system is the ORCCAD system[6] This development environment , based on the Esterel [2] language provides some extensions to specify robots tasks and procedures . However, this approach does not address architecture with advanced decisional level such as planners. In [12] the author presents another work related to synchronous language which has some similarities with the work presented here. The objective is also to develop an execution control system with formal checking tools and an user friendly language. This system represents requests at some abstraction ....

Eric Rutten. A framework for using discrete control synthesis in safe robotic programming and teleoperation. IEEE International Conference Robotics & Automation, pages 4104--4109, May 2001.

....explicitly the existence of multiple modes, and the possibility to switch between them. This pattern can be instantiated, with parameters describing the set of modes, the switching transitions and the values of weights associated with configurations. This task pattern elaborates on previous work [11], where only single mode tasks were considered, with properties of exclusivity and of required or forbidden sequences. Here, we exploit the extension of the model to consider properties of bounding and optimization. 2.1. Informal presentation Cyclic, multi mode tasks. A reactive system can be ....

....in terms of real complex systems: the point here is rather to show how this can be used by optimal discrete control synthesis. In particular, other, logical, properties can be meaningful for such systems, like mutual exclusion of given modes of different tasks, and required or forbidden sequences [11], but in this paper we focus on optimization aspects. Modes. The functions are defined for each mode of each task: q ij = C q (M ij ) and c ij = C t (M ij ) One can also think to associate costs to the events in order to take into account the time necessary for mode changes. In this paper, we ....

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E. Rutten. A framework for using discrete control synthesis in safe robotic programming and teleoperation. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA'2001.

....of the system. Our approach. In this report, we propose a systematic framework into which discrete control synthesis can be used in an automated way (i.e. user friendly) on structures directly related to the domain of control system programming (i.e. robot control tasks and their sequencing) [61]. It comprises patterns for: task structures with phases and modes, transition events, events to be controlled by the synthesized controller; a mission structure, composition of a set of tasks, with maximal permissiveness; and objectives, pre de ned for user friendliness, related to the ....

E. Rutten. A framework for using discrete control synthesis in safe robotic programming and teleoperation. In Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'2001.

.... Approach In this context, we are proposing a systematic framework into which discrete control synthesis [14, 13] can be used in an automated way (i.e. user friendly) on structures directly related to the domain of robotic programming (i.e. robot control 1 tasks and their sequencing) [15]. It comprises patterns for: a task structure with phases and modes, transition events, events to be controlled by the synthesized controller; a mission structure, with maximal permissiveness; and objectives, pre defined for user friendliness, related to the task structure, and to the synthesis ....

E. Rutten. A framework for using discrete control synthesis in safe robotic programming. Research Report, INRIA, 2000. (to appear)

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E. Rutten, "A framework for using discrete control synthesis in safe robotic programming and teleoperation," IEEE International Conference Robotics & Automation, pp. 4104--4109, May 2001.

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E. Rutten, "A framework for using discrete control synthesis in safe robotic programming and teleoperation," IEEE International Conference Robotics & Automation, pp. 4104--4109, May 2001.

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