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Plan library and conventions of space robot system
Yu C(余岑); Zhou WJ(周维佳)
Source PublicationInternational Journal of Control and Automation
Indexed ByEI
EI Accession number20143718154832
Contribution Rank1
KeywordDiscrete Event Simulation Petri Nets Planning Space Research Temporal Logic
AbstractIn space exploration, robots are important to do some hazardous jobs instead of human. The robots usually work in an unstructured environment to operate non-cooperative targets. There are unpredictable events which can reduce the capacity of robots. And unfortunately the communication channel between robots and ground command center has limited band-width and high latency. Therefore, space robot system needs plans that can autonomously deal with unpredictable events. Executable plans must satisfy some well defined conventions. This paper proposes a formal representation of plan library based on Petri net as well as the way to define conventions based on LTL. The formal representation formalizes concepts such as event, action and behavior. And plan is a behavior instance. This approach could be used to generate rational plans automatically or with a litter help of human. We illustrate them with a space robot application example. © 2014 SERSC.
Document Type期刊论文
Corresponding AuthorYu C(余岑); Zhou WJ(周维佳)
Affiliation1.Shenyang Institute of Automation Chinese Academy of Sciences, State key Laboratory of Robotics, Nanta Street 114#, Shenyang, Liaoning Province 110016E, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Yu C,Zhou WJ. Plan library and conventions of space robot system[J]. International Journal of Control and Automation,2014,7(8):103-116.
APA Yu C,&Zhou WJ.(2014).Plan library and conventions of space robot system.International Journal of Control and Automation,7(8),103-116.
MLA Yu C,et al."Plan library and conventions of space robot system".International Journal of Control and Automation 7.8(2014):103-116.
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