Abstract
In this paper we put forward a framework that integrates features of reactive planning models with modern control-theory-based approaches to motion control of robots. We introduce a motion description language, MDLe, inspired by Roger Brockett’s MDL, that provides a formal basis for robot programming using behaviors, and at the same time permits incorporation of kinematic and dynamic models of robots given in the form of differential equations. 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 realtime 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 cost functions for comparing both atomic and compound behaviors in various environments. We demonstrate the use of MDLe in the area of motion planning for nonholonomic robots. Such models impose limitations on stabilizability via smooth feedback; piecing together open-loop and closed-loop trajectories becomes essential in these circumstances, and MDLe enables one to describe such piecing together in a systematic manner. A reactive planner using the formalism of this discussion is described. We demonstrate obstacle avoidance with limited range sensors as a test of this planner.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M.A. Arbib. Schema theory. In Encyclopedia of Artificial Intelligence, pages 1427–1443. Wiley-Interscience, New York, 1992.
M.A. Arbib. Schema-theoretic models of arm, hand, and eye movements. In P. Rudomin, M.A. Arbib, F. Cervantes-Perez, and R. Romo, editors, Neuroscience: From Neural Networks to Artificial Intelligence, pages 43–60. Springer-Verlag, New York, 1993.
C.R. Arkin. Motor schema-based mobile robot navigation. The Int. Journal of Robotics Research, 8(4):92–112, 1988.
C.R. Arkin. Behaviour-based robot navigation for extended domains. Adaptive Behaviour, 1(2):201–225, 1992.
N. Bernstein. The Coordination and Regulation of Movement. Pergamon Press, Oxford, 1967.
E. Bienestock and S. Geman. Compositionality in neural systems. In M.A. Arbib, editor, The Handbook of Brain Theory and Neural Networks, pages 223–226. MIT Press, Cambridge, MA, 1995.
B. Blumberg and T. Galyean. Multi-level direction of autonomous creatures for realtime virtual envorinments. In Computer Graphics Proceedings, SIGGRAPH-95, pages 47–54, 1995.
J. Barraquand and J.C. Latombe. Robot motion planning: A distributed representation approach. Technical Report STAN-CS-89–1257, Stanford University, May 1989.
R. W. Brockett. Asymptotic stability and feedback stabilization. In R.W. Brockett, R.S. Millman, and HJ. Sussmann, editors, Differential Geometric Control Theory, pages 181–191. Birkhauser, Boston, 1983.
R.W. Brockett. Robotic manipulators and the product of exponential formula. In P.A. Fuhrmann, editor, Mathematical Theory of Networks and Systems, pages 120–129. Springer-Verlag, New York, 1984.
R.A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1):14–23, 1986.
R.W. Brockett. On the computer control of movement. In Proc. of the 1988 IEEE Conference on Robotics and Automation, pages 534–540. IEEE, New York, 1988.
R.W. Brockett. Formal languages for motion description and map making. In Robotics, pages 181–193. American Mathematical Society, Providence, RI, 1990.
R. W. Brockett. Hybrid models for motion control. In H. Trentelman and J.C. Willems, editors, Perspectives in Control, pages 29–51. Birkhauser, Boston, 1993.
J.-M. Coron. Global asymptotic stabilization for controllable systems. Mathematics of Control, Signals and Systems, 5(3), 1992.
C. Canudas de Wit and O.J. Sordalen. Exponential stabilization of mobile robots with nonholonomic constraints. IEEE Transactions on Automatic Control, 37(11): 1791–1797, November 1992.
C. Fernandes, L. Gurvits, and Z.X. Li. Foundations of nonholonomic motion planning. In Z. X. Li and J. F. Canny, editors, Nonholonomic Motion Planning. Kluwer, 1993.
H. Hu and M. Brady. A Bayesian approach to real-time obstacle avoidance for a mobile robot. Autonomous Robots, 1(1):69–92, 1995.
Robert Hermann. Accessibility problems for path systems. In Differential Geometry and the Calculus of Variations, Chapter 18, pages 241–257. Math Sci Press, Brookline, MA, 1968. 2nd Edition.
I. Horswill, Polly: A vision-based artificial agent. Proc. of the Eleventh Conference on Artificial Intelligence, MIT Press, Cambridge, MA, 1993.
O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. The Int. Journal of Robotics Research, 5(1):90–99, Spring 1986.
D.E. Koditschek. Exact robot navigation by means of potential functions: Some topological considerations. In Proc. of the IEEE Int. Conference on Robotics and Automation, pages 1–6. IEEE, New York, 1987.
D.M. Lyons and M.A. Arbib. A formal model of computation for sensory-based robotics. IEEE Tran. on Robotics and Automation, 5(3):280–293, June 1989.
J.P. Laumond. Nonholonomic motion planning versus controllability via the multibody car system example. Technical Report STAN-CS-90–1345, Stanford University, December 1990.
N.E. Leonard and P.S. Krishnaprasad. Averaging for attitude control and motion planning. In Proc. of the 32nd IEEE Conference on Decision and Control, pages 3098–3104. IEEE, New York, 1993.
T. Lozano-Perez. Spatial planning: A configuration space approach. AI memo 605, MIT Artificial Intelligence Laboratory, Cambridge, MA, 1980.
V.J. Lumelsky. Algorithmic and complexity issues of robot motion in an uncertain environment. Journal of Complexity, 3: 146–182, 1987.
Vikram Manikonda. A hybrid control strategy for path planning and obstacle avoidance with nonholonomic robots. Master’s thesis, University of Maryland, College Park, MD, 1994.
B. Mirtich and J.F. Canny. Using skeletons for nonholonomic path planniing among obstacles. In Proc. of the Int. Conference on Robotics and Automation, pages 2533–2540. IEEE, New York, 1992.
V. Manikonda, J. Hendler, and P.S. Krishnaprasad. Formalizing behavior-based planning for nonholonomic robots. In Proc. of the 14th Int. Joint Conference on Artificial Intelligence, pages 142–149, Morgan Kaufmann, San Mateo, CA, 1995.
V. Manikonda, P.S. Krishnaprasad, and J. Hendler. A motion description language and hybrid architecure for motion planning with nonholonomic robots. In Proc. of the IEEE Int. Conference on Robotics and Automation. IEEE, New York, 1995.
R.M. Murray, Z. Li, and S.S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton, FL, 1994.
R.M. Murray and S.S. Sastry. Steering nonholonomic systems using sinusoids. In Proc. of the 29th IEEE Conference on ecision and Control, pages 2097–2101. IEEE, New York, 1990.
J.B. Pomet. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift. Systems and Control letters, 18: 147–158, 1992.
R. Shahidi, M.A. Shayman, and P.S. Krishnaprasad. Mobile robot navigation using potential functions. In Proc. of the IEEE Int. Conference on Robotics and Automation, pages 2047–2053. IEEE, New York, 1991.
H.J. Sussmann. Local controllability and motion planning for some classes of systems without drift. In Proc. of the 30th Conference on Decision and Control, pages 1110–1114. IEEE, New York, 1991.
J.C. Willems. Paradigms and puzzles in the theory of dynamical systems. IEEE Transactions on Automatic Control, 36: 259–294, 1991.
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer Science+Business Media New York
About this chapter
Cite this chapter
Manikonda, V., Krishnaprasad, P.S., Hendler, J. (1999). Languages, Behaviors, Hybrid Architectures, and Motion Control. In: Baillieul, J., Willems, J.C. (eds) Mathematical Control Theory. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-1416-8_6
Download citation
DOI: https://doi.org/10.1007/978-1-4612-1416-8_6
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4612-7136-9
Online ISBN: 978-1-4612-1416-8
eBook Packages: Springer Book Archive