A hybrid model and sensor-based control using logical sensor

This paper describes the progress of a research program on intelligent autonomous systems. The research program concentrates on equipping robots with a capability of handling the exceptions autonomously during the execution of their programs. An intelligent robot control system has been developed, which has the capability of exception handling. An intelligent sensor system with a similar capability of detecting, diagnosing and recovering from errors has been studied. The work mainly addresses the problems of integrating these two systems, i.e. the robot control systems which make decisions or accomplish tasks based on the sensory feedback. A hybrid model is proposed, and a sensor-based control system using the model is developed. The hybrid model relies not only upon the robot model but also the sensory feedback