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Full-Text Articles in Physical Sciences and Mathematics
Behavior-Based Power Management In Autonomous Mobile Robots, Charles A. Fetzek
Behavior-Based Power Management In Autonomous Mobile Robots, Charles A. Fetzek
Theses and Dissertations
Current attempts to prolong the life of a robot on a single battery charge focus on lowering the operating frequency of the onboard hardware, or allowing devices to go to sleep during idle states. These techniques have much overhead and do not come built in to the underlying robotic architecture. In this thesis, battery life is greatly extended through development of a behavior-based power management system, including a Markov decision process power planner, thereby allowing future robots increased time to operate and loiter in their required domain. Behavior-based power management examines sensors needed by the currently active behavior set and …
Dynamic Behavior Sequencing In A Hybrid Robot Architecture, Jeffrey P. Duffy
Dynamic Behavior Sequencing In A Hybrid Robot Architecture, Jeffrey P. Duffy
Theses and Dissertations
Hybrid robot control architectures separate plans, coordination, and actions into separate processing layers to provide deliberative and reactive functionality. This approach promotes more complex systems that perform well in goal-oriented and dynamic environments. In various architectures, the connections and contents of the functional layers are tightly coupled so system updates and changes require major changes throughout the system. This work proposes an abstract behavior representation, a dynamic behavior hierarchy generation algorithm, and an architecture design to reduce this major change incorporation process. The behavior representation provides an abstract interface for loose coupling of behavior planning and execution components. The hierarchy …