Robust Execution of Temporally Flexible Plans for Bipedal Walking Devices
نویسندگان
چکیده
ed Plant Hybrid Dispatcher Qualitative Control Plan Plan Compiler Control actions Plant state Plant Model 11 A V ehic le 1 [100, 200] 21 A V ehic le 2 22 A [70 , 90 ] [50 , 100] [0 , 200] Disturbance displaces trajectory 2200 max 2000 min 1 1 = = xg xg 11 A V eh icle 1 [100, 200 ] 21 A V eh icle 2 22 A [70 , 90] [50, 100] 1800 max 1500 min 2 2 = = xg xg
منابع مشابه
Safe Execution of Temporally Flexible Plans for Bipedal Walking Devices
Plans with temporal flexibility have been used to allow discrete systems to adapt to disturbances that occur while the plan is being executed. To control more complex devices, such as bipedal walking machines, we must extend this execution paradigm to the control of hybrid (discrete/continuous) systems. Systems of this type are difficult to control for two reasons: 1) their high dimensionality ...
متن کاملExploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots
Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as ag...
متن کاملExploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems
Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as ag...
متن کاملDistributed Method Selection and Dispatching of Contingent, Temporally Flexible Plans
Many applications of autonomous agents require groups to work in tight coordination. To be dependable, these groups must plan, carry out and adapt their activities in a way that is robust to failure and to uncertainty. Previous work developed contingent, temporally flexible plans. These plans provide robustness to uncertain activity durations, through flexible timing constraints, and robustness...
متن کاملRobust Execution of Contingent, Temporally Flexible Plans
Many applications of autonomous agents require groups to work in tight coordination. To be dependable, these groups must plan, carry out and adapt their activities in a way that is robust to failure and uncertainty. Previous work has produced contingent plan execution systems that provide robustness during their plan extraction phase, by choosing between functionally redundant methods, and duri...
متن کامل