Open Access

Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation

EURASIP Journal on Advances in Signal Processing20092009:984752

https://doi.org/10.1155/2009/984752

Received: 31 July 2008

Accepted: 8 April 2009

Published: 26 May 2009

Abstract

We address the problem of realizing lightweight signal processing and control architectures for agents in multirobot systems. Motivated by the promising results of neuromorphic engineering which suggest the efficacy of analog as an implementation substrate for computation, we present the design of an analog-amenable signal processing scheme. We use control and dynamical systems theory both as a description language and as a synthesis toolset to rigorously develop our computational machinery; these mechanisms are mated with structural insights from behavior-based robotics to compose overall algorithmic architectures. Our perspective is that robotic behaviors consist of actions taken by an agent to cause its sensory perception of the environment to evolve in a desired manner. To provide an intuitive aid for designing these behavioral primitives we present a novel visual tool, inspired vector field design, that helps the designer to exploit the dynamics of the environment. We present simulation results and animation videos to demonstrate the signal processing and control architecture in action.

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Authors’ Affiliations

(1)
Department of Electrical and Computer Engineering, Texas A&M University

Copyright

© Nebu John Mathai et al. 2009

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.