NDLI: Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations

Content Provider	IEEE Xplore Digital Library
Author	Keith, F. Wieber, P. Mansard, N. Kheddar, A.
Copyright Year	2011
Description	Author affiliation: CNRS-LAAS, Toulouse, France (Mansard, N.) \|\| CNRS-UM2 LIRMM, Montpellier, France (Kheddar, A.) \|\| INRIA Rhône-Alpes, Grenoble, France (Keith, F.; Wieber, P.)
Abstract	This paper examines the control continuity in hierarchical task-space controllers. While the continuity is ensured for any a priori fixed number of tasks -even in ill-conditioned configurations-, the control resulting from a hierarchical stack-of-task computation may not be continuous under some discrete events. In particular, we study how the continuity of the stack-of-task control computation is affected under discreet scheduling operations such as on-the-fly priority switching between tasks, or tasks insertion and removal, which changes the number of tasks in the stack controller. Different ways to formulate a hierarchy of tasks are presented together with their continuity properties, which is thoroughly analyzed under such discreet scheduling operations.
Starting Page	3887
Ending Page	3892
File Size	743154
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094706
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Null space Minimization Damping Smoothing methods Silicon Jacobian matrices
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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