Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach
Autor(a) principal: | |
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Data de Publicação: | 2004 |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/4322 |
Resumo: | The timing of movements and of action sequences is important when particular events must be achieved in timevarying environments, avoiding moving obstacles or coordinating multiple robots. However, timing is dificult when it must be compatible with continuous on-line coupling to lowlevel and often noisy sensory information which is used to initiate and steer action. We extended the Dynamic Approach to Behavior Generation to account for timing constraints. We proposed a solution that uses a dynamical system architecture to autonomously generate timed trajectories and sequences of movements as attractor solutions of dynamic systems. The model consists on a two layer architecture, in which a competitive "neural" dynamics layer controls the qualitative dynamics of a second, "timing" layer. The second layer generates both stable oscillations and stationary states, such that periodic attractors generate timed movement. The frst layer controls the switching between the limit cycle and the fxed points, allowing for discrete movements and movement sequences. This model was integrated with another dynamical system without timing constraints. The complete dynamical architecture was demonstrated on a visionguided mobile robot in real time, whose goal is to reach a target in approximately constant time within a non-structured environment. The obtained results illustrated the stability and flexibility properties of the timing architecture as well as the robustness of the proposed decision-making mechanism. |
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Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approachNon-linear dynamical systems approachRoboticsScience & TechnologyThe timing of movements and of action sequences is important when particular events must be achieved in timevarying environments, avoiding moving obstacles or coordinating multiple robots. However, timing is dificult when it must be compatible with continuous on-line coupling to lowlevel and often noisy sensory information which is used to initiate and steer action. We extended the Dynamic Approach to Behavior Generation to account for timing constraints. We proposed a solution that uses a dynamical system architecture to autonomously generate timed trajectories and sequences of movements as attractor solutions of dynamic systems. The model consists on a two layer architecture, in which a competitive "neural" dynamics layer controls the qualitative dynamics of a second, "timing" layer. The second layer generates both stable oscillations and stationary states, such that periodic attractors generate timed movement. The frst layer controls the switching between the limit cycle and the fxed points, allowing for discrete movements and movement sequences. This model was integrated with another dynamical system without timing constraints. The complete dynamical architecture was demonstrated on a visionguided mobile robot in real time, whose goal is to reach a target in approximately constant time within a non-structured environment. The obtained results illustrated the stability and flexibility properties of the timing architecture as well as the robustness of the proposed decision-making mechanism.Fundação para a Ciência e a Tecnologia (FCT)IEEEUniversidade do MinhoSantos, Cristina2004-04-262004-04-26T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/4322engICRA. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, New Orleans, 2004 - Piscataway : IEEE, 2004. ISBN 0-7803-8232-3.07803823231050-4729info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T05:01:50Zoai:repositorium.sdum.uminho.pt:1822/4322Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T05:01:50Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
title |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
spellingShingle |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach Santos, Cristina Non-linear dynamical systems approach Robotics Science & Technology |
title_short |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
title_full |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
title_fullStr |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
title_full_unstemmed |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
title_sort |
Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach |
author |
Santos, Cristina |
author_facet |
Santos, Cristina |
author_role |
author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Santos, Cristina |
dc.subject.por.fl_str_mv |
Non-linear dynamical systems approach Robotics Science & Technology |
topic |
Non-linear dynamical systems approach Robotics Science & Technology |
description |
The timing of movements and of action sequences is important when particular events must be achieved in timevarying environments, avoiding moving obstacles or coordinating multiple robots. However, timing is dificult when it must be compatible with continuous on-line coupling to lowlevel and often noisy sensory information which is used to initiate and steer action. We extended the Dynamic Approach to Behavior Generation to account for timing constraints. We proposed a solution that uses a dynamical system architecture to autonomously generate timed trajectories and sequences of movements as attractor solutions of dynamic systems. The model consists on a two layer architecture, in which a competitive "neural" dynamics layer controls the qualitative dynamics of a second, "timing" layer. The second layer generates both stable oscillations and stationary states, such that periodic attractors generate timed movement. The frst layer controls the switching between the limit cycle and the fxed points, allowing for discrete movements and movement sequences. This model was integrated with another dynamical system without timing constraints. The complete dynamical architecture was demonstrated on a visionguided mobile robot in real time, whose goal is to reach a target in approximately constant time within a non-structured environment. The obtained results illustrated the stability and flexibility properties of the timing architecture as well as the robustness of the proposed decision-making mechanism. |
publishDate |
2004 |
dc.date.none.fl_str_mv |
2004-04-26 2004-04-26T00:00:00Z |
dc.type.driver.fl_str_mv |
conference paper |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/4322 |
url |
http://hdl.handle.net/1822/4322 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
ICRA. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, New Orleans, 2004 - Piscataway : IEEE, 2004. ISBN 0-7803-8232-3. 0780382323 1050-4729 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
IEEE |
publisher.none.fl_str_mv |
IEEE |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
mluisa.alvim@gmail.com |
_version_ |
1817544495236907008 |