Linguistic control of mobile robots

We study the interactions between symbolic computer programs and mechanical devices, e.g. mobile robots. We show that by using motion description languages for generating continuous motions from symbolic input strings, this interaction between the continuous and the discrete can be given a meaningful control theoretic interpretation. We furthermore illustrate how robot behaviors can be learned within this framework. We also investigate how to choose the motion description languages in order to minimize the lengths of the inputs to the robots.

[1]  James A. Hendler,et al.  Languages, behaviors, hybrid architectures, and motion control , 1998 .

[2]  Roger W. Brockett,et al.  On the computer control of movement , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  Roger W. Brockett,et al.  Hybrid Models for Motion Control Systems , 1993 .

[4]  George M. Siouris,et al.  Applied Optimal Control: Optimization, Estimation, and Control , 1979, IEEE Transactions on Systems, Man, and Cybernetics.

[5]  Andrew G. Barto,et al.  Adaptive linear quadratic control using policy iteration , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[6]  John E. Hopcroft,et al.  Motion of Objects in Contact , 1984 .

[7]  Micha Sharir,et al.  On Shortest Paths in Polyhedral Spaces , 1986, SIAM J. Comput..

[8]  Micha Sharir,et al.  Motion Planning in the Presence of Moving Obstacles , 1985, FOCS.