Robot ecology : constraint-based design for long-duration autonomy / Magnus Egerstedt.

Format:

Book

Author/Creator:

Egerstedt, Magnus, author.

Language:

English

Subjects (All):

Robots--Environmental aspects.

Robots.

Autonomous robots--Design and construction.

Autonomous robots.

Robotics--Environmental aspects.

Robotics.

Physical Description:

1 online resource (360 p.) : 101 b/w illus. 2 tables.

Place of Publication:

Princeton ; Oxford : Princeton University Press, [2021]

Language Note:

In English.

Summary:

A revolutionary new framework that draws on insights from ecology for the design and analysis of long-duration robotsRobots are increasingly leaving the confines of laboratories, warehouses, and manufacturing facilities, venturing into agriculture and other settings where they must operate in uncertain conditions over long timescales. This multidisciplinary book draws on the principles of ecology to show how robots can take full advantage of the environments they inhabit, including as sources of energy.Magnus Egerstedt introduces a revolutionary new design paradigm—robot ecology—that makes it possible to achieve long-duration autonomy while avoiding catastrophic failures. Central to ecology is the idea that the richness of an organism’s behavior is a function of the environmental constraints imposed by its habitat. Moving beyond traditional strategies that focus on optimal policies for making robots achieve targeted tasks, Egerstedt explores how to use survivability constraints to produce both effective and provably safe robot behaviors. He blends discussions of ecological principles with the development of control barrier functions as a formal approach to constraint-based control design, and provides an in-depth look at the design of the SlothBot, a slow and energy-efficient robot used for environmental monitoring and conservation.Visionary in scope, Robot Ecology presents a comprehensive and unified methodology for designing robots that can function over long durations in diverse natural environments.

Contents:

Frontmatter

Contents

Preface

I. Long-Duration Autonomy

1. Introduction

2. Survival of the Robots

3. Ecological Connections

II. Constraint-Based Control

4. Constraints and Barriers

5. Persistification of Robotic Tasks

6. Composition of Barrier Functions

III. Robots in the Wild

7. Robot Ecology

8. Environmental Monitoring

9. Autonomy-on-Demand

Bibliography

Index

Notes:

Description based on print version record.

ISBN:

9781523158249

1523158247

9780691230078

0691230072

OCLC:

1273979524