NDLI: Programming parallel distributed control for complex systems

Content Provider	IEEE Xplore Digital Library
Author	Pai, D.K.
Copyright Year	1989
Description	Author affiliation: Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA (Pai, D.K.)
Abstract	The author considers the design of control programs for systems with many degrees of freedom and multiple goals. These systems have several features requiring nontraditional control techniques. The author proposes a framework for the control of such systems. In this framework, it is possible to create abstract domains of interest and relate them to sensed and actuated quantities. Motions are programmed by specifying inequality or equality constraints in these domains, possibly changing over time, which have to be satisfied in order to achieve the task. A trajectory satisfying the constraints is picked at run time. The framework has a number of benefits, including the ability to deal with redundancy and the partial specification of motion; the ability to divide the control task into independent, concurrent modules which can be separately developed and debugged; the possibility of parallel execution; ease of modification of existing programs; and the ability to handle multiple sensors and actuators in a uniform fashion. An experimental version of this framework has been implemented with encouraging results.
Starting Page	426
Ending Page	432
File Size	654241
Page Count	7
File Format	PDF
ISBN	0818619872
ISSN	21589860
DOI	10.1109/ISIC.1989.238663
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-09-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel programming Distributed control Robot kinematics Service robots Robot sensing systems Legged locomotion Mobile robots Humanoid robots Control systems Manipulators
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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