The MDLe Engine -- A Software Tool for Hybrid Motion Control

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dc.contributor.authorHristu, Dimitriosen_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorAndersson, Sean B.en_US
dc.contributor.authorZhang, F.en_US
dc.contributor.authorSodre, P.en_US
dc.contributor.authorD'Anna, L.en_US
dc.contributor.departmentISRen_US
dc.contributor.departmentCDCSSen_US
dc.date.accessioned2007-05-23T10:10:28Z
dc.date.available2007-05-23T10:10:28Z
dc.date.issued2000en_US
dc.description.abstractOne of the important but often overlooked practical challenges in motion control for robotics and other autonomous machines has to do with the implementation of theoretical tools into software that will allow the system to interact effectively with the physical world. More often than not motion control programs are machine-specific and not reusable, even when the underlying algorithm does not require any changes. <p>The work on Motion Description Languages (MDL) has been an effort to formalize a general-purpose robot programming language that allows one to incorporate both switching logic and differential equations. Extended MDL (MDLe) is a device-independent programming language for hybrid motion control, accommodating hybrid controllers, multi-robot interactions and robot-to-robot communications. <p>The purpose of this paper is to describe the "MDLe engine," a software tool that implements the MDLe language. <p>We have designed a basic compiler/software foundation for writing MDLe code. We provide a brief description of the MDLe syntax, implementation architecture, and functionality. Sample programs are presented together with the results of their execution on a set of physical and simulated mobile robots.en_US
dc.format.extent387667 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/6188
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 2000-54en_US
dc.relation.ispartofseriesCDCSS; TR 2000-8en_US
dc.subjectalgorithmsen_US
dc.subjectcomputational complexityen_US
dc.subjectparallel architecturesen_US
dc.subjectclusteringen_US
dc.subjectHierarchical structureen_US
dc.subjectaggregationen_US
dc.subjectdynamic programmingen_US
dc.subjectfinite horizonen_US
dc.subjectstochastic shortest path,en_US
dc.titleThe MDLe Engine -- A Software Tool for Hybrid Motion Controlen_US
dc.typeTechnical Reporten_US

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