Abstract
We address problems underlying the algorithmic question of automating the co-design of robot hardware in tandem with its apposite software. Specifically, we consider the impact that degradations of a robot's sensor and actuation suites may have on the ability of that robot to complete its tasks. We introduce a new formal structure that generalizes and consolidates a variety of well-known structures including many forms of plans, planning problems, and filters, into a single data structure called a procrustean graph, and give these graph structures semantics in terms of ideas based in formal language theory. We describe a collection of operations on procrustean graphs (both semantics-preserving and semantics-mutating), and show how a family of questions about the destructiveness of a change to the robot hardware can be answered by applying these operations. We also highlight the connections between this new approach and existing threads of research, including combinatorial filtering, Erdmann's strategy complexes, and hybrid automata.
Abstract (translated)
我们解决了与其适当的软件一起自动化机器人硬件协同设计的算法问题的基础问题。具体来说，我们考虑机器人传感器和驱动套件的退化可能对机器人完成任务的能力产生的影响。我们引入了一种新的形式结构，它将各种众所周知的结构（包括多种形式的计划，规划问题和过滤器）概括和整合到一个称为procrustean图的单一数据结构中，并根据基于思想的方式给出这些图结构语义。在形式语言理论中。我们描述了procrustean图上的一系列操作（语义保留和语义变异），并展示了如何通过应用这些操作来回答关于机器人硬件变更的破坏性的一系列问题。我们还强调了这种新方法与现有研究线程之间的联系，包括组合滤波，Erdmann策略复合体和混合自动机。
URL
https://arxiv.org/abs/1807.08856
