Studying robot-environment interaction via transparent controllers

O. Akanyeti*, P. Fiorini, S. A. Billings

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

Crynodeb

In this paper we address the question of "Why is it that a mobile robot, programmed in a certain way and placed in some environment to execute a program, behaves in the way it does?". We present three real world experiments in which we first obtain transparent controllers to express sensor-motor couplings of a mobile robot. We then use these models to analyze the robot behaviour formally; in particular to understand how the sensor readings are related to motor commands, to evaluate the derived controllers from a mathematical point of view and even to predict the behaviour of the robot in untested environments.

Iaith wreiddiolSaesneg
TeitlIEEE 15th International Conference on Advanced Robotics
Is-deitlNew Boundaries for Robotics, ICAR 2011
Tudalennau377-382
Nifer y tudalennau6
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 01 Rhag 2011
Cyhoeddwyd yn allanolIe
DigwyddiadIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn, Estonia
Hyd: 20 Meh 201123 Meh 2011

Cyfres gyhoeddiadau

EnwIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Cynhadledd

CynhadleddIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Gwlad/TiriogaethEstonia
DinasTallinn
Cyfnod20 Meh 201123 Meh 2011

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