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

该研究将调查一些传感器的集成 和致动机构以形成鲁棒的机器人控制器。 主要 研究问题是：（1）任务的细分，以允许 由传感器和动作系统同时规划和执行，或者 “代理”，（2）集成多个不同的部分传感器 从这些代理观察到的“最佳”统计估计 （3）真实的实时编程系统的开发 以支持这样的分布式代理系统。 该项目还将 研究用于表示时序约束的语言原语 在代理内，代理执行的分布式调度，以及 代理间通信需求。

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.