A Software Architecture for Multi-criteria Decision Making for Sdvanced Robotics. Kapoor, C., Cetin, M., Pryor, M., Cocca, C., Harden, T., & Tesar, D. In Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell, pages 525–530, Gaithersburg, MD, September, 1998. IEEE. doi abstract bibtex 8 downloads Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.
@inproceedings{kapoor_software_1998,
address = {Gaithersburg, MD},
title = {A {Software} {Architecture} for {Multi}-criteria {Decision} {Making} for {Sdvanced} {Robotics}},
doi = {10.1109/ISIC.1998.713718},
abstract = {Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.},
booktitle = {Proceedings of the 1998 {IEEE} {International} {Symposium} on {Intelligent} {Control} ({ISIC}) held jointly with {IEEE} {International} {Symposium} on {Computational} {Intelligence} in {Robotics} and {Automation} ({CIRA}) {Intell}},
publisher = {IEEE},
author = {Kapoor, C. and Cetin, M. and Pryor, M. and Cocca, C. and Harden, T. and Tesar, D.},
month = sep,
year = {1998},
keywords = {Kinematics, Manipulators, OSCAR, Redundancy, Software architecture},
pages = {525--530},
}
Downloads: 8
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