Execution control of robotic tasks for UUVs

被引：0
|
作者：
Coletta, P [1 ]
Bono, R [1 ]
Bruzzone, G [1 ]
Caccia, M [1 ]
Veruggio, G [1 ]
机构：
[1] CNR, Ist Automazione Navale, I-16149 Genoa, Italy
来源：
CONTROL APPLICATIONS IN MARINE SYSTEMS 2001 (CAMS 2001) | 2002年
关键词：
underwater vehicles; Petri nets; hybrid systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of designing an interface between the continuous-state and the discrete-state domains of intelligent control architectures is addressed in this paper, focusing on the case of a hierarchical navigation, guidance and control architecture for unmanned underwater vehicles. The proposed interface represents the underlying continuous-state execution level as a DES using a Petri net formalism. The correct behavior of the execution level is ensured, checking that no forbidden state is reached and that the proper task activation and deactivation order is respected. Methodologies for the off-line generation of the Petri net representation of the Execution level and real-time automatic system reconfiguration are presented. Copyright (C) 2001 IFAC.
引用
收藏
页码：431 / 436
页数：6
相关论文
共 50 条
  • [1] Execution control of robotic tasks: Estimators representation
    Bruzzone, G
    Caccia, M
    Coletta, P
    Veruggio, G
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 4053 - 4058
  • [2] Robotic execution of everyday tasks by means of external vision/force control
    Mario Prats
    Philippe Martinet
    Angel P. del Pobil
    Sukhan Lee
    Intelligent Service Robotics, 2008, 1 : 253 - 266
  • [3] Learning attentional regulations for structured tasks execution in robotic cognitive control
    Caccavale, Riccardo
    Finzi, Alberto
    AUTONOMOUS ROBOTS, 2019, 43 (08) : 2229 - 2243
  • [4] Robotic execution of everyday tasks by means of external vision/force control
    Prats, Mario
    Martinet, Philippe
    del Pobil, Angel P.
    Lee, Sukhan
    INTELLIGENT SERVICE ROBOTICS, 2008, 1 (03) : 253 - 266
  • [5] Learning attentional regulations for structured tasks execution in robotic cognitive control
    Riccardo Caccavale
    Alberto Finzi
    Autonomous Robots, 2019, 43 : 2229 - 2243
  • [6] Execution control of robotic tasks: a Petri net-based approach
    Caccia, M
    Coletta, P
    Bruzzone, G
    Veruggio, G
    CONTROL ENGINEERING PRACTICE, 2005, 13 (08) : 959 - 971
  • [7] Improving the Sequence of Robotic Tasks with Freedom of Execution
    Alatartsev, Sergey
    Ortmeier, Frank
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 4503 - 4510
  • [8] An intelligent robotic framework for the execution of contact assembly tasks
    Lau, HYK
    Mak, KL
    Ngan, MCC
    INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING, 2002, 15 (06) : 511 - 525
  • [9] The effects of soft somatosensory system on the execution of robotic tasks
    Augello, Agnese
    Infantino, Ignazio
    Maniscalco, Umberto
    Pilato, Giovanni
    Vella, Filippo
    2017 FIRST IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC), 2017, : 14 - 21
  • [10] High-Density Electromyography Based Control of Robotic Devices: On the Execution of Dexterous Manipulation Tasks
    Dwivedi, Anany
    Lara, Jaime
    Cheng, Leo K.
    Paskaranandavadivel, Niranchan
    Liarokapis, Minas
    2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 3825 - 3831
12345