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A Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robots

dc.contributor.authorManikonda, Vikramen_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorHendler, James A.en_US
dc.date.accessioned2007-05-23T09:58:41Z
dc.date.available2007-05-23T09:58:41Z
dc.date.issued1995en_US
dc.identifier.urihttp://hdl.handle.net/1903/5614
dc.description.abstractThis paper puts forward a formal basis for behavior-based robotics, using techniques that have been successful in control- theory-based approaches for steering and stabilizing robots that are subject to nonholonomic constraints. In particular, behaviors for robots are formalized in terms of kinetic state machines, a motion description language, and the interaction of the kinetic state machine with real-time information from (limited range) sensors. This formalization allows us to create a mathematical basis for the study of such systems, including techniques for integrating sets of behaviors. In addition we suggest optimality criteria for comparing both atomic and compound behaviors in various environments. A hybrid architecture for the implementation of path planners that uses the motion description language is also presented.en_US
dc.format.extent830702 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1995-19en_US
dc.subjectroboticsen_US
dc.subjectmotion languageen_US
dc.subjectnonholonomic systemsen_US
dc.subjectkinetic state machinesen_US
dc.subjecthybrid architectureen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleA Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robotsen_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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