Dynamic Fault Reconfigurable Intelligent Control Architectures for Robotics
Cavallaro, Joseph R.
Walker, Ian D.
In this paper we describe new progress in our development of an Intelligent Control Framework for robots which dynamically reconfigures itself to cope with faults in either sensors or joint hardware. The Framework is configured to allow the incorporation of new approaches for on-line critiquing of user plans and commands within the framework. We discuss integration of the two components above to produce an Intelligent Robot Operating System which can tolerate failures or unexpected actions from both the logical (user) world and the physical (manipulator) world and continue operation where possible.
MetadataShow full item record
Showing items related by title, author, creator and subject.
Schuster, Christopher Emmet (1991)Automated path planning and obstacle avoidance has been the subject of intensive research in recent times. Most efforts in the field of semiautonomous mobile-robotic navigation involve using Artificial Intelligence search ...
Cardello, Ralph Joseph (1990)Bioprocesses often require considerable expertise to insure proper operation and performance. However, they are also rich in both data and factual knowledge. Supervision and control can be improved by utilizing information ...
A globally convergent algorithm for training multilayer perceptrons for data classification and interpolation Madyastha, Raghavendra Kattigiri (1991)This thesis addresses the issue of applying a "globally" convergent optimization scheme to the training of multi-layer perceptrons, a class of Artificial Neural Networks, for the detection and classification of signals in ...