MDLn: A Motion Description Language for Networked Systems

Show full item record

Please use this identifier to cite or link to this item:

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
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

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View Description
CDC08MDLn.pdf 145.6Kb PDF View/ Open Author's Version
04739185.pdf 245.2Kb PDF View/ Open Publisher's Version

This item appears in the following Collection(s)

Show full item record