Reactive Robots in the Service of Production Management

Tzafestas, ES

dc.contributor.author	Tzafestas, ES	en
dc.date.accessioned	2014-03-01T01:14:06Z
dc.date.available	2014-03-01T01:14:06Z
dc.date.issued	1998	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12869
dc.subject	Behavior-based robotics	en
dc.subject	Motivational autonomy	en
dc.subject	Operationality	en
dc.subject	Reactivity	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion planning	en
dc.subject.other	Perturbation techniques	en
dc.subject.other	Process control	en
dc.subject.other	Robotics	en
dc.subject.other	State space methods	en
dc.subject.other	Dynamical systems	en
dc.subject.other	Reactive robots	en
dc.subject.other	Industrial robots	en
dc.title	Reactive Robots in the Service of Production Management	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1007915102641	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1007915102641	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	In this paper, we advocate the use of reactive robots in industrial process control and production management. It is explained why reactive robots are well-suited to modern industrial applications that necessitate a high degree of autonomy and reactivity to unforeseen events and an illustrative example is studied in depth. A reactive robot whose role is to regulate the demands of a set of service units for tool use is described and different behavioral models for it studied and compared. Extensive simulation studies have revealed that a behavioral model relying on individual independent motivations of the robot is sufficient for it to exhibit the ""optimal"" behavior in this case. The process is modeled as a dynamical system that tends by itself to a steady state and that is perturbed by the robot. In turn, the robot's motivations have a steady state of their own which is contradictory with the process' steady state and hence is perturbed by its presence. As a consequence, the robot and the process are two coupled dynamical systems that perturb each other as each one tries to arrive to its steady state. For the designer, modeling of the overall problem in this way, has as a consequence that the motivational state space of the robot may be designed in advance given the process characteristics and this design should be based on a worst-case analysis. The mythical distinction between reactivity and planning is also rediscussed and the notion of operationality as opposed to optimality is explored.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1007915102641	en
dc.identifier.isi	ISI:000072346100008	en
dc.identifier.volume	21	en
dc.identifier.issue	2	en
dc.identifier.spage	179	en
dc.identifier.epage	191	en