Variable structure robot control systems: The RAPP approach - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Robotics and Autonomous Systems Year : 2017

Variable structure robot control systems: The RAPP approach

Manuel Serrano

Abstract

This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services. "
Fichier principal
Vignette du fichier
rapp-robotics-and-autonomous-systems.pdf (3.92 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

hal-01550448 , version 1 (16-01-2019)

Identifiers

Cite

Cezary Zieliński, Maciej Stefańczyk, Tomasz Kornuta, Maksym Figat, Wojciech Dudek, et al.. Variable structure robot control systems: The RAPP approach. Robotics and Autonomous Systems, 2017, 94, pp.18. ⟨10.1016/j.robot.2017.05.002⟩. ⟨hal-01550448⟩
208 View
593 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More