| | |
Summary: Language-based feedback control using Monte
Carlo Sensing
submitted to ICRA 2005
Sean B. Andersson
Division of Engineering and Applied Sciences
Harvard University
Cambridge, MA 02138
sanderss@deas.harvard.edu
Dimitrios Hristu-Varsakelis
Department of Mechanical Engineering and
Institute for Systems Research
University of Maryland, College Park, MD 20742
hristu@glue.umd.edu
Abstract-- Landmark-based graphs are a useful and parsimo-
nious tool for representing large scale environments. Relating
landmarks by means of feedback-control algorithms encoded in
a motion description language provides a level of abstraction that
enables autonomous vehicles to navigate effectively by composing
strings in the language to form complex strategies that would be
difficult to design at the level of sensors and actuators. In such a
|
