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COMMUNICATIONS IN INFORMATION AND SYSTEMS c 2008 International Press Vol. 8, No. 2, pp. 85-106, 2008 002
 

Summary: COMMUNICATIONS IN INFORMATION AND SYSTEMS c 2008 International Press
Vol. 8, No. 2, pp. 85-106, 2008 002
OBSERVERS IN LANGUAGE-BASED CONTROL
SEAN B. ANDERSSON, DIMITRIS HRISTU-VARSAKELIS, AND MORTEZA
LAHIJANIAN
Abstract. This work discusses the construction of an observer for language-driven control
systems. Such systems accept symbolic inputs corresponding to feedback control laws together with
logical conditions which determine when each control law is to be applied. Here, we explore the
problem of how to identify the symbolic string driving the system through observation of its output.
We discuss the identification of individual "instructions" from which inputs are composed, as well as
the recovery of more global features of the input. These features can be quite complex depending on
the richness of the grammar. Our approach is motivated by settings where language-driven systems
(e.g., mobile robots) must cooperate "silently", so that a newcomer who wants to be useful must
first determine what others in the team are trying to accomplish. Our ideas are illustrated in a series
of numerical experiments involving symbolic control of linear systems using the motion description
language MDLe.
1. Introduction. One of R. W. Brockett's influential ideas was that in systems
of even mild complexity, such as robots moving about in their environment, control
design should take place not in the space of mappings between sensor and actuator
signals but rather in a set of control primitives. These primitives, termed atoms,

  

Source: Andersson, Sean B. - Department of Aerospace and Mechanical Engineering, Boston University
Boston University, Center for Nanoscience and Nanobiotechnology

 

Collections: Engineering; Materials Science