CAREER: Linguistic Control of Mobile Robots

当人类相互指示如何执行特定任务时，只使用有限数量的标记化（语言）指令。与此相反，经典控制理论规定控制动作应在每个时刻进行。但是，在许多应用中，例如用于工业和家庭用途的半自主服务机器人，智能电器，以及通信受限的嵌入式和/或远程操作设备，控制程序具有自然的，语言的风味。这里的解释是，语言控制指令指定特定的操作模式，而不是明确的控制值。本CAREER-prop课程的总体目标是开发和传播合理的方法，以理解如何使用计算机生成的语言输入来控制连续设备，如移动设备。特别是，将研究这些指令应该如何制定。为了使从计算机传输到系统的比特数最小化，同时保证系统符合其规格，需要、选择和编码。为此，将发展控制理论的信息论方法，不仅作为控制信号的源编码，而且作为描述符号指令应如何被连续系统解释和操作的有用工具。关于在给定的测试应用中使用什么传感器和执行器的问题也可以在这个框架内得到很好的解决。本课程的发展将为电气和计算机工程的教学和研究奠定基础，特别强调控制理论和原理。特别是e。混合模型：将开发控制理论模型，以弥合连续（设备动态）和离散（语言控制输入）之间的差距。所提出的模型将给符号输入一个清晰的，控制理论的解释，同时di的表达能力。控制输入的事件集可以显式设置。复杂性度量和编码理论：将提出一种复杂性度量，对应于生成特定控制程序所需的比特数。此外，通过建立控制模式集合上的概率分布，可以推导出最优控制算法。多模态和多智能体控制设计：将构建适当的控制模式字符串，使系统满足给定的规格，同时保持描述简短。为此，我们将设计控制律，使用电子通道中可用的传感数据。这些结果将扩展到多智能体控制中，在最小化智能体间通信的同时，应该实现队形维护和避障。教育计划：由于所拟工作的多学科性质，本科控制课程将会修改。在乔治亚理工学院的课程中，将包括教育学和两门高级本科课程。在此基础上，将进一步开发一种多智能体机器人测试平台，将人与计算机生成的输入作为运动控制的基础

When humans instruct each other h w to carry out particular tasks,nly a limited number oftokenized (linguistic)instructions are used.In contrast to this,classic control theory speci .esa control action to be carried out at each time instant.But,in a number f applications,suchas semi-autonomous service robots for industrial and domestic use,intelligent appliances,andcommunication constrained embedded and/or teleoperated devices,the control procedures havea natural,linguistic .avor.The interpretation here is that linguistic control instructions specifyparticular modes f peration rather than explicit control values.The verall objective f this CAREER-prop sal is t develop and disseminate rational meth-ds for understanding how continuous devices,such as mobile rob ts,should be controlled usingcomputer generated,linguistic inputs.In particular,it will be studied how these instructionsshould be de .ned,selected,and coded in rder to minimize the number of bits transmitted fromthe computer t the rob t,while guaranteeing that the system meets its speci .cations.F r this,an information theoretic approach t control theory will be developed,serving as a useful toolnot nly for source coding of control signals,but also for describing how symb lic instructionsshould be interpreted and perated n by the continuous systems.Questions concerning whatsensors and actuators to use in a given rob tic application can be addressed quite elegantlywithin this framew rk as well.The development of this program will serve as a foundation for a teaching and research careerin electrical and computer engineering,with particular emphasis n control theory and rob tics.In particular,the e .ort will be focused n the following key areas:Hybrid Models: Control theoretic models will be developed for bridging the gap between thecontinuous (the device dynamics)and the discrete (the linguistic control inputs).The proposedmodels will give the symbolic inputs a clear,control theoretic interpretation,at the same timeas the expressive p wers of di .erent sets f control inputs can be made explicit.Complexity Measures and Coding Theory: A complexity measure,corresp nding to thenumber of bits needed for c ding a particular control procedure,will be proposed.Furthermore,by establishing probability distributions ver the set f control modes,optimal c ding algorithmscan be derived.Multi-Modal and Multi-Agent Control Design: Strings of appropriate control modes willbe constructed that make the systems meet given speci .cations while keeping the descriptionsshort.F r this we will design control laws that use the available sensory data in an e .cientway.These results will be extended t multi-agent control where formation maintenance andobstacle avoidance should be achieved while minimizing the inter-agent communications.Educational Plan: Due t the multidisciplinary nature f the proposed w rk,the under-graduate control curriculum will be modi .ed and tw senior level undergraduate courses willbe included in the curriculum at the Georgia Institute of Technology.A multi-agent rob tictestbed where b th human and computer generated inputs can be used as a basis for the motioncontrol will furthermore be developed.1