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

该研究将研究许多传感器和驱动机构的集成，以形成一个鲁棒的机器人控制器。主要研究问题是：(1)任务的细分，以允许传感器和行动系统（或“代理”）同时规划和执行；(2)将来自这些代理的许多不同的部分传感器观察结果集成为任务状态的“最佳”统计估计；(3)开发支持分布式代理系统的实时编程系统。该项目还将研究用于表示代理内的时间约束、代理执行的分布式调度和代理间通信需求的语言原语。

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.