Optimization of Multi-Agent Motion Programs with Applications to Robotic MarionettesReport as inadecuate


Optimization of Multi-Agent Motion Programs with Applications to Robotic Marionettes


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In this paper, we consider the problem of generating optimized, executable control code from high-level, symbolic specifications.In particular, we construct symbolic control programs using strings froma motion description language with a nominal set of motion parameters,such as temporal duration and energy, embedded within each mode.These parameters are then optimized over, using tools from optimalswitch-time control and decentralized optimization of separable networkproblems. The resulting methodology is applied to the problem of controlling robotic marionettes, and we demonstrate its operation on anexample scenario involving symbolic puppet plays defined for multiplepuppets.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Author: Martin, Patrick - Egerstedt, Magnus B. - -

Source: https://smartech.gatech.edu/







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