Researchers: Anders Lindquist, Xiaoming Hu,
Magnus Egerstedt, Henrik Rehbinder, Claudio Altafini, Torvald Ersson
and Petter Ögren.
Sponsor: The Swedish Foundation for Strategic Researches (SSF).
This project is part of the ongoing research effort of the Center for
Autonomous Systems. In this
project we use a hybrid system approach to study some issues
concerning the integration of control and sensor systems for a mobile
manipulator. In particular, the following issues are studied.
- 1.
- Modeling of basic behaviors as dynamic systems.
In order to take advantage of HDS methods, one should model individual
behaviors of a robot (action responses to sensory inputs) as dynamical
systems, or as a set of differential or/and difference
equations. Then one can study problems such as path planning and obstacle
avoidance for systems with possibly nonholonomic constraints.
- 2.
- Modeling of tasks as hybrid dynamic systems. In a Behavior
Based robot architecture, many behaviors are affecting the system
simultaneously. Therefore questions concerning safety,
task-achievement and liveliness (non-blocking behaviors) are hard to
answer due to the complexity of the system. However, if these
behaviors could be modeled as nodes in a hybrid automata, features
about the system could be proved.
- 3.
- Sensor fusion. The multiple sensor problem, known as sensor fusion,
has been studied
extensively, but a fully satisfying solution has not yet been provided
and many research issues are still open. We study the basic problems
of designing and tailor-making filter algorithms for our applications
as well as more general filtering problems for sensors in distributed
control systems.
- 4.
- Feedback Control of Hybrid Systems.
A few different problems on the control of hybrid system will be studied.
By the use of abstraction, it is possible to simplify
complex decision-making problems into hierarchical control
systems. It is then necessary to have
consistent methods for aggregating system properties from one level to
another. This crucial problem in the design of complex control systems
have only recently been addressed. We will study this
problem together with the related problem of composition of hybrid
systems.
Research 1999/2000
Geometric theory of linear stochastic systems
Integral quadratic constraints
Last update: February 21, 2001 by
Anders Forsgren,
anders.forsgren@math.kth.se.