MDLn: A Motion Description Language for Networked Systems

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38598

Title: MDLn: A Motion Description Language for Networked Systems
Author: Martin, Patrick ; de la Croix, Jean-Pierre ; Egerstedt, Magnus B.
Abstract: In this paper we extend the definition of a Motion Description Language (MDL) to networked systems. This new construction (MDLn) supports inter-agent specification rules as well as desired network topologies, enabling us to specify high-level control programs for group interactions. In particular, MDLn-strings specify multi-modal executions of the system through a concatenation of modes. Each mode in the MDLn-string is a triple, specifying a control law, interrupt conditions, and desired network dependencies. In addition to proposing MDLn as a specification language for networked systems, we also give an architecture in which MDLn strings can be effectively parsed and executed in multi-robot applications.
Description: (c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/CDC.2008.4739185
Type: Article
Proceedings
URI: http://hdl.handle.net/1853/38598
ISSN: 0191-2217
Citation: P. Martin, J.P. de la Croix, and M. Egerstedt. MDLn: A Motion Description Language for Networked Systems. IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 2008.
Date: 2008-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Motion description languages
Motion control
Networked systems

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