IEEE - Institute of Electrical and Electronics Engineers, Inc. - Generalized projector for task priority transitions during hierarchical control

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Mingxing Liu ; Sovannara Hak ; Vincent Padois
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 768 - 773
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139265
Regular:

Redundant robots performing multiple tasks of different priority levels are often handled by hierarchical control frameworks. This paper proposes a general hierarchical control approach that can... View More

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