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dc.contributor.advisorChristensen, Henrik I.
dc.contributor.authorDantam, Neil Thomas
dc.date.accessioned2016-01-07T17:21:34Z
dc.date.available2016-01-07T17:21:34Z
dc.date.created2014-12
dc.date.issued2014-10-29
dc.date.submittedDecember 2014
dc.identifier.urihttp://hdl.handle.net/1853/54284
dc.description.abstractThere 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.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technology
dc.subjectRobotics
dc.subjectFormal language
dc.subjectGrammars
dc.subjectPolicy representation
dc.titleA linguistic method for robot verification programming and control
dc.typeDissertation
dc.description.degreePh.D.
dc.contributor.departmentInteractive Computing
thesis.degree.levelDoctoral
dc.contributor.committeeMemberEgerstedt, Magnus
dc.contributor.committeeMemberEssa, Irfan
dc.contributor.committeeMemberThomaz, Andrea L.
dc.contributor.committeeMemberPappas, George J.
dc.date.updated2016-01-07T17:21:34Z


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