🚀 go-pugleaf

In article <50852@cornell.UUCP> jennings@svax.cs.cornell.edu (Jim Jennings) writes:
   In article <YAMAUCHI.91Jan15180754@heron.cs.rochester.edu> yamauchi@cs.rochester.edu (Brian Yamauchi) writes:
   >
   >As part of my thesis research in behavior-based robotics, I'm going to
   >be building a simulated robot control system for freeway driving, and
   >I'd like to include reasonable assumptions about automobile dynamics
   >in the simulator.

   How will you
   model changing grip due to tread deformation, road surface,
   tire pressure, sidewall windup, suspension geometry, tire
   temperature, tire compound, road material, slip rate and
   angle, etc.?  And this is only the tip of the iceberg when
   it comes to analyzing automobile handling.

The goal of this research is not to study automobile handling, but to
demonstrate a behavior arbitration algorithm which can deal with large
numbers of possibly conflicting sensorimotor constraints.  I don't
claim this will generate any new insights into the analysis of
automobile performance, although I do hope it will provide insights
into how to build reactive robots which need to resolve conflicts
between behavior agents.

   If you want to use a behavior-based system (or any other,
   really) to control a vehicle with nontrivial dynamics, my
   suggestion is to build a (real) vehicle that can travel at
   sufficient (scale) speed.

This would have been my first choice by far, but, alas, the resources
are unavailable.  However, this vehicle simulation is only part of my
thesis research.  I also plan to demonstrate by behavior arbitration
algorithm by building a (real) visually-guided dextrous manipulation
system (an area in which we do have the robotics/vision hardware).

I have a strong personal preference for working with real robots, and
I agree that building real systems is the best way to demonstrate
robotic algorithms, but sometimes you just don't have an ALV handy...
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Brian Yamauchi				University of Rochester
yamauchi@cs.rochester.edu		Computer Science Department
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