Thomas Skillman Boeing Electronics High Technology Center (United States) Wolf Kohn Boeing Computer Services Scientific Computing and Analysis (United States) Robb Graham Boeing Electronics High Technology Center (United States)
Based on our experience with two mobile robot control projects implemented on blackboard based computing systems, a control system design approach has been developed for declarative representation of the control problem and an algorithm decomposition which automatically creates hierarchical controllers. The target computing system architecture, blackboard or otherwise, is captured declaratively in a complexity measure. This measure is used during the decomposition of the controller to optimize the controllers performance on the target computing architecture. Our design approach is presented, and the computational complexity measure is described. A new mobile robot testbed, Ulysses, and potential force field control approach will be used to test our declarative hierarchical controller design procedure.