乐胖代购免代理版

{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,8,19]],"date-time":"2023-08-19T04:53:46Z","timestamp":1692420826864},"reference-count":45,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,8,17]],"date-time":"2023-08-17T00:00:00Z","timestamp":1692230400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"Specifying and solving Constraint-based Optimization Problems (COP) has become a mainstream technology for advanced motion control of mobile robots. COP programming still requires expert knowledge to transform specific application context into the right configuration of the COP parameters (i.e., objective functions and constraints). The research contribution of this paper is a methodology to couple the context knowledge of application developers to the robot knowledge of control engineers, which, to our knowledge, has not yet been carried out. The former is offered a selected set of symbolic descriptions of the robots\u2019 capabilities (its so-called \u201cbehavior semantics\u201d) that are translated in control actions via \u201ctemplates\u201d in a \u201csemantic map\u201d; the latter contains the parameters that cover contextual dependencies in an application and robot vendor-independent way. The translation from semantics to control templates takes place in an \u201cinteraction layer\u201d that contains 1) generic knowledge about robot motion capabilities (e.g., depending on the kinematic type of the robots), 2) spatial queries to extract relevant COP parameters from a semantic map (e.g., what is the impact of entering different types of \u201ccollision areas\u201d), and 3) generic application knowledge (e.g., how the robots\u2019 behavior is impacted by priorities, emergency, safety, and prudence). This particular design of, and interplay between, the application, interaction, and control layers provides a structured, conceptually simple approach to advance the complexity of mobile robot applications. Eventually, industry-wide cooperation between representatives of the application and control communities should result in an interaction layer with different standardized versions of semantic complexity.<\/jats:p>","DOI":"10.3389\/frobt.2023.917637","type":"journal-article","created":{"date-parts":[[2023,8,18]],"date-time":"2023-08-18T07:18:12Z","timestamp":1692343092000},"update-policy":"http:\/\/dx.doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Behavior adaptation for mobile robots via semantic map compositions of constraint-based controllers"],"prefix":"10.3389","volume":"10","author":[{"given":"Hao Liang","family":"Chen","sequence":"first","affiliation":[]},{"given":"Bob","family":"Hendrikx","sequence":"additional","affiliation":[]},{"given":"Elena","family":"Torta","sequence":"additional","affiliation":[]},{"given":"Herman","family":"Bruyninckx","sequence":"additional","affiliation":[]},{"given":"Ren\u00e9","family":"van de Molengraft","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2023,8,17]]},"reference":[{"key":"B1","first-page":"1215","article-title":"Collision avoidance among multiple mobile robots based on rules and communication","volume-title":"Proceedings IROS \u201991:IEEE\/RSJ international workshop on intelligent robots and systems \u201991","author":"Asama","year":"1991"},{"key":"B2","doi-asserted-by":"crossref","first-page":"512","DOI":"10.1109\/ICRA.2018.8460964","article-title":"Know rob 2.0\u2014A 2nd generation knowledge processing framework for cognition-enabled robotic agents","volume-title":"In 2018 IEEE international conference on robotics and automation (ICRA)","author":"Beetz","year":"2018"},{"key":"B3","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/JRA.1986.1087032","article-title":"A robust layered control system for a mobile robot","volume":"2","author":"Brooks","year":"1986","journal-title":"IEEE J. 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