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Optimal control in a value-based automatic behavior composition framework

Barati, Masoud; St-Denis, Richard

Authors

Masoud Barati

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