Name
Abstract | ||
|---|---|---|
This paper addresses autonomous intelligent navigation of mobile robotic platforms based on the recently reported algorithms of language-measure-theoretic optimal control. Real-time sensor data and model-based information on the robot's motion dynamics are fused to construct a probabilistic finite state automaton model that dynamically computes a time-dependent discrete-event supervisory control policy. The paper also addresses detection and avoidance of livelocks that might occur during execution of the robot navigation algorithm. Performance and robustness of autonomous intelligent navigation under the proposed algorithm have been experimentally validated on Segway RMP robotic platforms in a laboratory environment. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1080/00207170801947096 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | Field | DocType |
robot navigation and obstacle avoidance, discrete event supervisory control, language measure | Robot control,Social robot,Optimal control,Supervisory control,Computer science,Control engineering,Mobile robot navigation,Probabilistic logic,Robot,Mobile robot | Journal |
Volume | Issue | ISSN |
82 | 1 | 0020-7179 |
Citations | PageRank | References |
4 | 0.40 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Goutham Mallapragada | 1 | 23 | 3.07 |
| Ishanu Chattopadhyay | 2 | 28 | 6.91 |
| Ray, A. | 3 | 832 | 184.32 |