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Conference Paper: Modelling and analysis of natural language controlled robotic systems

TitleModelling and analysis of natural language controlled robotic systems
Authors
KeywordsControllability
Task planning
Robot
Observability
Natural language
Lyapunov stability
Action scheduling
Issue Date2014
Citation
IFAC Proceedings Volumes (IFAC-PapersOnline), 2014, v. 19, p. 11767-11772 How to Cite?
Abstract© IFAC. Controlling a robotic system through natural language commands can provide great convenience for human users. Many researchers have investigated on high-level planning for natural language controlled robotic systems. Most of the methods designed the planning as open-loop processes and therefore cannot well handle unexpected events for realistic applications. In this paper, a closed-loop method is proposed for task-planning to overcome unexpected events occurred during implementation of assigned tasks. The designed system is modeled and theoretically proved to be able to stabilize the robotic system under unexpected events. Experimental results demonstrate effectiveness and advantages of the proposed method.
Persistent Identifierhttp://hdl.handle.net/10722/212645
ISSN

 

DC FieldValueLanguage
dc.contributor.authorCheng, Yu-
dc.contributor.authorJia, Yunyi-
dc.contributor.authorFang, Rui-
dc.contributor.authorShe, Lanbo-
dc.contributor.authorXi, Ning-
dc.contributor.authorChai, Joyce-
dc.date.accessioned2015-07-28T04:04:33Z-
dc.date.available2015-07-28T04:04:33Z-
dc.date.issued2014-
dc.identifier.citationIFAC Proceedings Volumes (IFAC-PapersOnline), 2014, v. 19, p. 11767-11772-
dc.identifier.issn1474-6670-
dc.identifier.urihttp://hdl.handle.net/10722/212645-
dc.description.abstract© IFAC. Controlling a robotic system through natural language commands can provide great convenience for human users. Many researchers have investigated on high-level planning for natural language controlled robotic systems. Most of the methods designed the planning as open-loop processes and therefore cannot well handle unexpected events for realistic applications. In this paper, a closed-loop method is proposed for task-planning to overcome unexpected events occurred during implementation of assigned tasks. The designed system is modeled and theoretically proved to be able to stabilize the robotic system under unexpected events. Experimental results demonstrate effectiveness and advantages of the proposed method.-
dc.languageeng-
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)-
dc.subjectControllability-
dc.subjectTask planning-
dc.subjectRobot-
dc.subjectObservability-
dc.subjectNatural language-
dc.subjectLyapunov stability-
dc.subjectAction scheduling-
dc.titleModelling and analysis of natural language controlled robotic systems-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-84929833116-
dc.identifier.volume19-
dc.identifier.spage11767-
dc.identifier.epage11772-

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