Hierarchies of Sensing and Control in Visually Guided Agents
The capability of perceiving the environment is crucial for advancing the level of autonomy and sophistication of (semi)autonomous robotic systems and determines the complexity of the tasks robotics agents can achieve. This article reviews some techniques as well as challenges shared by many applications which use visual sensing to guide the action of the robotic agent and require coordination between multiple agents. In order to support hierarchical view of such systems sensing both in the context of low-level control as well as planning and coordination between multiple mobile agents will be considered. Several examples of the design and analysis of these hierarchical hybrid systems will be outlined in the context of Intelligent Highways, namely autonomous driving and coordination between multiple vehicles and mobile robot navigation in indoors man made environments.
KeywordsMobile Robot Composition Operator Visual Servoing Lane Change Mobile Robot Navigation
Unable to display preview. Download preview PDF.
- 2.D. Godbole and J. Lygeros. Hierarchical hybrid control: A case study. In Proceedings from IEEE Conference on Decision and Control, pages 1592–1597, 1994. 234Google Scholar
- 3.Z. Har’El and R. Kurshan. Cospan user’s guide. AT&T Laboratories, 1987. 234Google Scholar
- 4.A. Hsu, F. Eska., E. Singh, and P. Varaiya. Protocol desing for an automated highway system. Discrete Event Dynamic Systems, 2(1):183–206, 1994. 234Google Scholar
- 5.J. Malik, P. McLauchlan C. J. Taylor, and J. Košecká. Development of binocular stereopsis for vehicle lateral control. path mou-257 final report. Technical report, Department of EECS, UC Berkeley, 1997. 229Google Scholar
- 6.J. Košecká and H. Ben-Abdallah. An automaton based algebra for specifying robotic agents. In Proccedings of the AMAST Real-Time Systems Workshop, Salt Lake City, Utah, 1996. 239, 241Google Scholar
- 8.J. Košecká, R. Blasi, C. J. Taylor, and J. Malik. Vision based lateral control of vehicles. In Conference on Intelligent Transportation Systems, Boston, 1997. 229, 231Google Scholar
- 9.J. Košecká and H. I. Christensen. Experiments in behavior composition. Journal of Robotics and Autonomous Systems, 19(3/4), 1997. 239Google Scholar
- 11.D. M. Lyons and A. J. Hendriks. Planning for reactive robot behavior. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2675–2680, 1992. 239Google Scholar
- 14.S. Sastry, G. Meyer, C. Tomlin, J. Lygeros,, D. Godbole, and G. Pappas. Hybrid control in air traffic management systems. In Proceedings of the IEEE Conference in Decision and Control, pages 1478–1483, 1995. 235Google Scholar