Masoud Barati
Optimal control in a value-based automatic behavior composition framework
Barati, Masoud; St-Denis, Richard
Authors
Richard St-Denis
Abstract
The behavior composition problem consists in the automatic synthesis of a controller being able to realize a desired target behavior by coordinating a set of available behaviors. Although many frameworks have been proposed for this problem, one of the open issues concerns how to realize the desired target behavior at lower cost when several behaviors are available to perform the same actions. This paper provides an answer to this question by proposing a new framework in which values or costs are assigned to transitions of the available behaviors. Furthermore, controllers are synthesized by using two strategies: one suitable for on-line computation and another for off-line computation. Some experiments show how the two strategies perform on typical data.
Citation
Barati, M., & St-Denis, R. (2015, October). Optimal control in a value-based automatic behavior composition framework. Presented at 2015 7th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), Brno, Czech Republic
Presentation Conference Type | Conference Paper (published) |
---|---|
Conference Name | 2015 7th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT) |
Start Date | Oct 6, 2015 |
End Date | Oct 8, 2015 |
Online Publication Date | Jan 14, 2016 |
Publication Date | 2015 |
Deposit Date | May 4, 2021 |
Publisher | Institute of Electrical and Electronics Engineers |
Series ISSN | 2157-0221 |
Book Title | 2015 7th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT) |
DOI | https://doi.org/10.1109/icumt.2015.7382395 |
Keywords | Behavior composition, controller synthesis, delegation, optimal control, strong planning |
Public URL | http://researchrepository.napier.ac.uk/Output/2767188 |
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