Information-efficient design of robotic systems

Oded Z. Maimon; Mark Last

doi:10.1117/12.57919

30 April 1992 Information-efficient design of robotic systems

Oded Z. Maimon, Mark Last

Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992) https://doi.org/10.1117/12.57919
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.

Citation Download Citation

Oded Z. Maimon and Mark Last "Information-efficient design of robotic systems", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57919

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