Title :
Feedback can reduce the specification complexity of motor programs
Author :
Egerstedt, Magnus ; Brockett, Roger
Author_Institution :
Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
In this paper, we show that, when it is possible to use feedback in the specification of "motor programs" (symbolic strings of instructions that specify particular movements), the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor that reflects the richness of the available feedback signals. The model on which this work is based is that of a finite automaton, modified in such a way that instruction processing is akin to the way in which difference or differential equations "process" piecewise-constant inputs
Keywords :
computerised control; differential equations; feedback; finite automata; formal specification; motion control; piecewise constant techniques; sequences; difference equations; differential equations; feedback; finite automaton; instruction processing; instruction sequence description length; motor programs; movement specification; piecewise-constant input processing; signal richness; specification complexity; Automata; Automatic testing; Differential equations; Game theory; Machine vision; Output feedback; Robot sensing systems; State feedback; Stochastic processes; Uncertainty;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981138
