tailieunhanh - Báo cáo hóa học: " Research Article Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID 984752 9 pages doi 2009 984752 Research Article Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation Nebu John Mathai Takis Zourntos and Deepa Kundur Department of Electrical and Computer Engineering Texas A M University College Station TX 77840 USA Correspondence should be addressed to Nebu John Mathai mathai@ Received 31 July 2008 Revised 26 February 2009 Accepted 8 April 2009 Recommended by Frank Ehlers We address the problem of realizing lightweight signal processing and control architectures for agents in multirobot systems. Motivated by the promising results of neuromorphic engineering which suggest the efficacy of analog as an implementation substrate for computation we present the design of an analog-amenable signal processing scheme. We use control and dynamical systems theory both as a description language and as a synthesis toolset to rigorously develop our computational machinery these mechanisms are mated with structural insights from behavior-based robotics to compose overall algorithmic architectures. Our perspective is that robotic behaviors consist of actions taken by an agent to cause its sensory perception of the environment to evolve in a desired manner. To provide an intuitive aid for designing these behavioral primitives we present a novel visual tool inspired vector field design that helps the designer to exploit the dynamics of the environment. We present simulation results and animation videos to demonstrate the signal processing and control architecture in action. Copyright 2009 Nebu John Mathai et al. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. 1. Introduction The problem of developing a control .