Control Architectures Flashcards
Define time-scale
How quickly a robot has to respond compared to how quickly it can sense and think
What is the time-scale of Deliberative control?
slow
What is the time-scale of Reactive control?
very quick
What is the timescale of Hybrid control?
combines
What is the time-scale of behaviour-based-control?
brings time-scales together
Define modularity
refers to the way control systems are broken into modules and how they interact with each other
What is the modularity of deliberative control?
multiple modules in sequence including sense, plan, act; input from one being input for the next
What is the modularity of reactive control?
multiple modules running parallel, modules can send messages to each other
What is the modularity of hybrid control?
three layers/modules working parallel and can communicate with each other
What is the modularity of behavior-based-control?
multiple modules running parallel and able to talk to each other
When would you choose Deliberative control? (3)
- static world
- everything is known (no uncertainty)
- there is time to think
When would you choose Reactive control?
- very quick reaction
- no need to think or learn
When would you choose hybrid control?
- needs to perform one or more tasks that involve thinking and reacting to a dynamic environment
When would you choose behavior-based-control?
- need to react in real-time
- needs to be able to learn
- needs to use representations to generate efficiently (not only reactive) behavior
- Need for uniform structure and representation throughout the system
When do you choose between HC and BBC?
Does not really matter, come up with a nice answer. HS is more popular for single robot control and BBC for groups
Define planning
the process of looking ahead at the outcomes of possible actions and searching for the sequence of actions that will reach the desired goal.
What is the setup of a Reactive Control System with a subsumption architecture?
Higher layers can disable lower layers. Results in robust robots.
What is offline planning?
Preplanned plan, for situations that might come up
What is online planning?
Planning while a task is performed
How does distributed mapping works?
Landmarks are detected using sensors, when later on the robot matches those landmarks it knows where it went. Otherwise –> new landmark is created.
How can a RCS get out of problems (ex oscillation)? (2)
- Using a bit of randomness - - keeping history
What is a topological map?
collection of landmarks connected with links
