TY - JOUR
T1 - Autonomous robot navigation using optimal control of probabilistic regular languages
AU - Mallapragada, Goutham
AU - Chattopadhyay, Ishanu
AU - Ray, Asok
N1 - Funding Information:
This work has been supported in part by the U.S. Army Research Laboratory and the U.S. Army Research Office under Grant Nos. W911NF-07-1-0376 and W911NF-06-1-0469.
PY - 2009/1
Y1 - 2009/1
N2 - This paper addresses autonomous intelligent navigation of mobile robotic platforms based on the recently reported algorithms of language-measure- theoretic optimal control. Real-time sensor data and model-based information on the robot's motion dynamics are fused to construct a probabilistic finite state automaton model that dynamically computes a time-dependent discrete-event supervisory control policy. The paper also addresses detection and avoidance of livelocks that might occur during execution of the robot navigation algorithm. Performance and robustness of autonomous intelligent navigation under the proposed algorithm have been experimentally validated on Segway RMP robotic platforms in a laboratory environment.
AB - This paper addresses autonomous intelligent navigation of mobile robotic platforms based on the recently reported algorithms of language-measure- theoretic optimal control. Real-time sensor data and model-based information on the robot's motion dynamics are fused to construct a probabilistic finite state automaton model that dynamically computes a time-dependent discrete-event supervisory control policy. The paper also addresses detection and avoidance of livelocks that might occur during execution of the robot navigation algorithm. Performance and robustness of autonomous intelligent navigation under the proposed algorithm have been experimentally validated on Segway RMP robotic platforms in a laboratory environment.
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U2 - 10.1080/00207170801947096
DO - 10.1080/00207170801947096
M3 - Article
AN - SCOPUS:54949140019
SN - 0020-7179
VL - 82
SP - 13
EP - 26
JO - International Journal of Control
JF - International Journal of Control
IS - 1
ER -