Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach

Detalhes bibliográficos
Autor(a) principal: Santos, Cristina
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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spelling 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
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