A Language for Reconfigurable Robot Control
Abstract
When robots are to be deployed in urban environments, these robots need to be able to cope with all kinds of terrain. Includes curbs, steps and even stairs. A reconfigurable robot is best used in these cases. This thesis presents a framework that deals with configuration (posture) selection for this type of robotic systems. The system consists of a compiler and an execution engine, which provides the coupling between the low level control software and the high level planning software. The Configuration Selection Module (CSM) is generated from a specification that consists of a priority list of observation, action tuples for all possible goals. The planner stacks its desired goals on the CSM execution stack. This stack is reduced according the methods given in the specification. The system has been tested on a regular mobile robot and on a reconfigurable robot simulator. The result from these experiments suggest that the system will be able to function as desired.
BibTeX
@mastersthesis{Nabbe-1998-14759,author = {Bart Nabbe},
title = {A Language for Reconfigurable Robot Control},
year = {1998},
month = {September},
school = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-98-32},
}