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30 April 1992 Information-efficient design of robotic systems
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One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Oded Z. Maimon and Mark Last "Information-efficient design of robotic systems", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992);

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