Doctoral Dissertations

Abstract

"The representation for serial robotic tasks proposed in this thesis is a language of temporal constraints derived directly from a model of the space of serial plans. It was specifically designed to encompass problems that include disjunctive ordering constraints. This guarantees that the proposed language can completely and, to a certain extent, compactly represent all possible serial robotic tasks. The generality of this language carries a penalty. The proposed language of temporal constraints is NP-Complete. Specific methods have been demonstrated for normalizing constraints posed in this language in order to make subsequent sequencing and analysis more tractable. Using this language, the planner can specify necessary and alternative orderings to control undesirable interactions between steps of a plan. For purposes of analysis, the planner can factor a plan into strategies, and decompose those strategies into essential components. Using properly normalized constraint expressions the sequencer can derive admissible sequences and admissible next operations. Using these facilities, a robot can be given the specification of a task and it can adapt its sequence of operations according to run-time events and the constraints on the operations to be performed"--Abstract, page ii.

Advisor(s)

Dekock, Arlan R.
Zobrist, George W. (George Winston), 1934-

Committee Member(s)

Gillett, Billy E.
Ho, C. Y. (Chung You), 1933-1988
Moss, Randy Hays, 1953-

Department(s)

Computer Science

Degree Name

Ph. D. in Computer Science

Comments

The research reported in this thesis was supported in part by the McDonnell Douglas Independent Research and Development Program.

A report which is substantially this dissertation is available here for download.

Publisher

University of Missouri--Rolla

Publication Date

Spring 1987

Pagination

vii, 154

Note about bibliography

Includes bibliographical references (pages 145-153).

Rights

© 1987 Barry Ross Fox, All rights reserved.

Document Type

Dissertation - Restricted Access

File Type

text

Language

English

Thesis Number

T 5514

Print OCLC #

17456150

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