Date of Original Version

1993

Type

Conference Proceeding

Abstract or Description

A method is outlined for automatically designing sensors from the specification of a robot's task, its actions, and its uncertainty in control. The sensors provide precisely the information required by the robot to perform its task, despite uncertainty in sensing and control. The key idea is to generate a strategy for a robot task by using a backchaining planner that assumes perfect sensing while taking careful account of control uncertainty. The resulting plan indirectly specifies a sensor that tells the robot when to execute which action. Although the planner assumes perfect sensing information, the sensor need not actually provide perfect information. The sensor provides only the information required for the plan to function correctly.

Comments

"©1993 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

Included in

Robotics Commons

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Published In

Proceedings of the IEEE International Conference on Robotics and Automation, 592-598.