TY - GEN
T1 - Studying robot-environment interaction via transparent controllers
AU - Akanyeti, O.
AU - Fiorini, P.
AU - Billings, S. A.
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84255199233&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2011.6088621
DO - 10.1109/ICAR.2011.6088621
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:84255199233
SN - 9781457711589
T3 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
SP - 377
EP - 382
BT - IEEE 15th International Conference on Advanced Robotics
T2 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Y2 - 20 June 2011 through 23 June 2011
ER -