• Login
    View Item 
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    A linguistic method for robot verification programming and control

    Thumbnail
    View/Open
    DANTAM-DISSERTATION-2014.pdf (22.05Mb)
    Date
    2014-10-29
    Author
    Dantam, Neil Thomas
    Metadata
    Show full item record
    Abstract
    There are many competing techniques for specifying robot policies, each having advantages in different circumstances. To unify these techniques in a single framework, we use formal language as an intermediate representation for robot behavior. This links previously disparate techniques such as temporal logics and learning from demonstration, and it links data driven approaches such as semantic mapping with formal discrete event and hybrid systems models. These formal models enable system verification -- a crucial point for physical robots. We introduce a set of rewrite rules for hybrid systems and apply it automatically build a hybrid model for mobile manipulation from a semantic map. In the manipulation domain, we develop a new workspace interpolation methods which provides direct, non-stop motion through multiple waypoints, and we introduce a filtering technique for online camera registration to avoid static calibration and handle changing camera positions. To handle concurrent communication with embedded robot hardware, we develop a new real-time interprocess communication system which offers lower latency than Linux sockets. Finally, we consider how time constraints affect the execution of systems modeled hierarchically using context-free grammars. Based on these constraints, we modify the LL(1) parser generation algorithm to operate in real-time with bounded memory use.
    URI
    http://hdl.handle.net/1853/54284
    Collections
    • College of Computing Theses and Dissertations [1071]
    • Georgia Tech Theses and Dissertations [22401]
    • IRIM Theses and Dissertations [105]
    • School of Interactive Computing Theses and Dissertations [106]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology