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Plan library and conventions of space robot system
Yu C(余岑); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
关键词Discrete Event Simulation Petri Nets Planning Space Research Temporal Logic
发表期刊International Journal of Control and Automation
ISSN2005-4297
2014
卷号7期号:8页码:103-116
收录类别EI
EI收录号20143718154832
产权排序1
摘要In 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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15201
专题空间自动化技术研究室
通讯作者Yu C(余岑); Zhou WJ(周维佳)
作者单位1.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
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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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