A general constraint-based control framework with examples in modular self-reconfigurable robots

In this paper, we advocate a general constraint-based control framework that is highly promising for building control systems with complex dynamic structures, such as modular self-reconfigurable robots. In this framework, a controller consists of constraint solving components distributed in a network of embedded processors. Constraint solvers are goal oriented deliberative agents that can be used as control regulators or as information retrievers. The framework is built on the attribute/service model (ASM), a middleware for coordinating actuators, sensors and tasks in distributed real-time embedded systems. The communications and coordination among the services are realized via shared attributes. Examples of controlling a modular self-reconfigurable robot are illustrated in the paper.

Authors

• Ying Zhang
• Markus P. J. Fromherz
• Lara S. Crawford
• Yi Shang

Keywords

• Robot kinematics
• Control systems
• Communication system control
• Buildings
• Regulators
• Information retrieval
• Middleware
• Actuators
• Sensor phenomena and characterization
• Sensor systems
• Modular Self-reconfigurable Robots
• Control System
• Constraint Satisfaction Problem
• Degrees Of Freedom
• Input Variables
• Distribution System
• Sensor Data
• Singular Value Decomposition
• Types Of Components
• Joint Angles
• Model Predictive Control
• Proportional-integral-derivative
• Constrained Optimization
• Sensor Readings
• Inverse Kinematics
• Constraint Satisfaction
• Decentralized Control
• Central Pattern Generator
• Centipede
• Active Joint
• Offset Estimation
• Ticking Clock
• Multiple Processors
• Package Of Services
• Robotic System
• Distributed Control
• Optimal Control
• Changes In Configuration
• Control Variables