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Full-Text Articles in Physical Sciences and Mathematics
A Framework For Humanoid Control And Intelligence, Robert Platt, Oliver Brock, Andrew Fagg, Deepak Karupiah, Michael Rosenstein, Jefferson Coelho, Manfred Huber, Justus Piater, David Wheeler, Roderic Grupen
A Framework For Humanoid Control And Intelligence, Robert Platt, Oliver Brock, Andrew Fagg, Deepak Karupiah, Michael Rosenstein, Jefferson Coelho, Manfred Huber, Justus Piater, David Wheeler, Roderic Grupen
Roderic Grupen
One of the goals of humanoid research is the development of a humanoid capable of performing useful tasks in unknown or unpredictable environments. To address the complexities of this task, the robot must continually accumulate and utilize new control and perceptual knowledge. In this paper, we present a control framework for accomplishing this. Robot control policies can be learned at different levels of abstraction. We show how task-relevant perceptual features can be discovered that make better control policies possible. We also explore how trajectories of closed-loop policies can provide uniquely relevant state information. The approach presented in this paper is …
Scalability And Schedulability In Large, Coordinated, Distributed Robot Systems, John D. Sweeney, Huan Li, Roderic Grupen, Krithi Ramamritham
Scalability And Schedulability In Large, Coordinated, Distributed Robot Systems, John D. Sweeney, Huan Li, Roderic Grupen, Krithi Ramamritham
Roderic Grupen
Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots requires the exchange of information; either implicitly (as in gestural communication), or explicitly (as in message passing in a communication network.) In either case, control processes resident on all coordinated peers must participate in the collective behavior. This paper evaluates the potential to scale such a coupled control framework to many participating individuals, where scalability is evaluated in terms of the schedulability of coupled distributed control processes. We examine how schedulability affects the scalability of a robot system, and discuss an …