Scheduled System Maintenance:
On May 6th, system maintenance will take place from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). During this time, there may be intermittent impact on performance. We apologize for the inconvenience.
By Topic

A hierarchical, modal approach to hybrid systems control of autonomous robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
McIsaac, K.A. ; Gen. Robotics Autom., Sensing & Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA ; Das, A.K. ; Esposito, J.M. ; Ostrowski, J.P.

We propose a hierarchical structure for control of autonomous robots. We draw on ideas from the hybrid systems theory, which describe systems governed by a discrete set of continuous modes of operation and transitions between these modes. We aim to enable rapid development of test applications and to allow easy performance upgrades. Our structure is based on the creation of agents to process inputs and outputs at the highest level of abstraction in the system (the application domain). We describe our implementation of this structure in two systems: a nonholonomic car-like robot and a quadrupedal entertainment robot. Both examples demonstrate how abstraction of planning away from the implementation details of the robot enables rapid development

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

2000