New method for integration of multi-sensor and multi-actuator robot system

摘要

Describes a unified method for integrating different kinds of sensor-based control. We introduced "control space", which is smoothly related to actuator space. Each sensor-based control law is described in the control space. The integration is done automatically by mapping the control space to the actuator space based on local linear relations between them. We also proposed the multi-agent-based implementation of the control system. Simulation and experiment show the effectiveness of this new method.