Behavior adaptation for mobile robots via semantic map compositions of constraint-based controllers.

ABSTRACT: Specifying and solving Constraint-based Optimization Problems (COP) has become a mainstream technology for advanced motion control of mobile robots. COP programming still requires expert knowledge to transform specific application context into the right configuration of the COP parameters (i.e., objective functions and constraints). The research contribution of this paper is a methodology to couple the context knowledge of application developers to the robot knowledge of control engineers, which, to our knowledge, has not yet been carried out. The former is offered a selected set of symbolic descriptions of the robots' capabilities (its so-called "behavior semantics") that are translated in control actions via "templates" in a "semantic map"; the latter contains the parameters that cover c

SUBMITTER: Chen HL 

PROVIDER: S-EPMC10470113 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature