Stochastic Language-based Motion Control

Simple item page
dc.contributor.authorAndersson, Sean B.en_US
dc.contributor.authorHristu-Varsakelis, Dimitriosen_US
dc.contributor.departmentISRen_US
dc.contributor.departmentCDCSSen_US
dc.date.accessioned2007-05-23T10:14:22Z
dc.date.available2007-05-23T10:14:22Z
dc.date.issued2003en_US
dc.description.abstractIn this work we present an efficient environment representation based on the use of landmarks and language-based motion programs. The approach is targeted towards applications involving expansive, imprecisely known terrain without a single global map. To handle the uncertainty inherent in real-world applications a partially-observed controlled Markov chain structure is used in which the state space is the set of landmarks and the control space is a set of motion programs. Using dynamic programming, we derive an optimal controller to maximize the probability of arriving at a desired landmark after a finite number of steps. A simple simulation is presented to illustrate the approach.en_US
dc.format.extent93975 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/6389
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 2003-31en_US
dc.relation.ispartofseriesCDCSS; TR 2003-1en_US
dc.subjectSensor-Actuator Networksen_US
dc.titleStochastic Language-based Motion Controlen_US
dc.typeTechnical Reporten_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
TR_2003-31.pdf
Size:
91.77 KB
Format:
Adobe Portable Document Format
Download

Collections

Institute for Systems Research Technical Reports