DocumentCode
426190
Title
Hybrid control of semi-autonomous robots
Author
Sequeira, João ; Ribeiro, Isabel
Author_Institution
Inst. for Syst. & Robotics, Instituto Superior Tecnico, Lisbon, Portugal
Volume
2
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
1838
Abstract
This paper presents a hybrid architecture for robot control supported on basic concepts from the geometry of Hilbert spaces and nonsmooth calculus. The architecture develops in two classic layers. A supervising layer chooses which motion strategies to apply from a set contained in an execution layer. The paper focuses mainly in the lower execution layer, motivated by the control of semi-autonomous robots. A set of experiments on the control of unicycle robots is presented.
Keywords
Hilbert spaces; calculus; mobile robots; motion control; Hilbert spaces; hybrid control; motion control; nonsmooth calculus; semi-autonomous robots; unicycle robots; Artificial intelligence; Calculus; Control systems; Humans; Mars; Motion control; Orbital robotics; Robot control; Robotics and automation; Unmanned aerial vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389664
Filename
1389664
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