Variable structure robot control systems: The RAPP approach

Abstract : This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services. "
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Soumis le : mercredi 16 janvier 2019 - 14:31:30
Dernière modification le : jeudi 7 février 2019 - 15:30:32


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Cezary Zieliński, Maciej Stefańczyk, Tomasz Kornuta, Maksym Figat, Wojciech Dudek, et al.. Variable structure robot control systems: The RAPP approach. Robotics and Autonomous Systems, Elsevier, 2017, 94, pp.18. 〈〉. 〈10.1016/j.robot.2017.05.002〉. 〈hal-01550448〉



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