Title :
Representation of descriptive knowledge for nested hierarchical controllers
Author_Institution :
Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
Abstract :
A methodology is described for representing nested hierarchical knowledge for control purposes which has been developed for analysis and design of autonomous robots. A theory of knowledge representation for knowledge-based control used ideas of multiresolutional nonhomogeneous (analytical/linguistical) world representation. Algorithms of planning/control have been developed that are consistent with the multiresolutional structure of the nested hierarchical control. A principle of behavioral plurality is exercised within the decision-making subsystem of the controller
Keywords :
hierarchical systems; knowledge based systems; knowledge representation; robots; autonomous robots; behavioral plurality; decision-making; descriptive knowledge; knowledge representation; knowledge-based control; multiresolutional nonhomogeneous world representation; nested hierarchical controllers; nested hierarchical knowledge; Control systems; Fuzzy control; Fuzzy systems; Intelligent actuators; Intelligent networks; Intelligent robots; Intelligent structures; Knowledge representation; Multiresolution analysis; Navigation;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194639
