A Proposal to Integrate Sensing with Actuation to Form a Robust, Intelligent, Robot Control System

将传感与驱动相集成以形成稳健、智能的机器人控制系统的建议

• 批准号: 8512838
• 负责人: Richard Paul
• 金额: $ 30.5万
• 依托单位: University of Pennsylvania
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1986
• 资助国家: 美国
• 起止时间: 1986-03-01 至 1988-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8512838&HistoricalAwards=false
• 关键词: Proposal; Integrate; Sensing; Actuation; Form

The research will investigate the integration of a number of sensors and actuation mechanisms to form a robust robot controller. Principal research issues are: (1) the subdivision of the task to allow for concurrent planning and execution by the sensor and action systems, or "agents", (2) the integration of a number of disparate partial sensor observations from these agents into a "best" statistical estimate of task state; and (3) the development of a real time programming system to support such a distributed agent system. The project will also investigate language primitives for expressing timing constraints within agents, distributed scheduling of agent execution, and inter-agent communication requirements.

这项研究将研究整合多个传感器和执行机构，以形成一个健壮的机器人控制器。主要的研究问题是：(1)任务的细分，以允许传感器和行动系统或“代理”同时计划和执行；(2)将来自这些代理的多个完全不同的部分传感器观测结果集成到任务状态的“最佳”统计估计中；以及(3)开发支持这种分布式代理系统的实时编程系统。该项目还将研究用于表达代理内的时间约束、代理执行的分布式调度和代理间通信需求的语言原语。