A General Constraint-based Control Framework with Examples in Modular Self-reconfigurable Robots

Ying Zhang, Markus P.J. Fromherz, Lara S. Crawford, and Yi Shang

Abstract

In this paper, we advocate a general constraint-based control framework that is highly promising for building control systems with complex dynamic structures, such as modular self-reconfigurable robots. In this framework, a controller consists of constraint solving components distributed in a network of embedded processors. Constraint solvers are goal oriented deliberative agents that can be used as control regulators or as information retrievers. The framework is built on the Attribute/Service Model (ASM), a middleware for coordinating actuators, sensors and tasks in distributed real-time embedded systems. The communications and coordination among the services are realized via shared attributes. Examples of controlling a modular self-reconfigurable robot are illustrated in the paper.

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