TY - GEN
T1 - Formally verified modular decentralized robot control system
AU - Mutambara, A. G.O.
AU - Durrant-Whyte, H. F.
PY - 1993
Y1 - 1993
N2 - This paper addresses the design, verification and implemetnation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. A decentralized Information Filter is developed and extended to solve the decentralized control problem keeping consistency with information space ideas. Locally processed information is shared by all nodes so that optimal control is computed using the best, locally determined, global state estimate. There is no central processing site and hence the system performance degraades gracelly under structural perturbations. Control is determined such that the expected value of a quadratic performance index is minimized.
AB - This paper addresses the design, verification and implemetnation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. A decentralized Information Filter is developed and extended to solve the decentralized control problem keeping consistency with information space ideas. Locally processed information is shared by all nodes so that optimal control is computed using the best, locally determined, global state estimate. There is no central processing site and hence the system performance degraades gracelly under structural perturbations. Control is determined such that the expected value of a quadratic performance index is minimized.
UR - http://www.scopus.com/inward/record.url?scp=0027849198&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027849198
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 2023
EP - 2030
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -