Reliable Plan Selection by Intelligent Machines

by McInroy, John E.; Musto, Joseph C.; Saridis, George N.

• ISBN13: 9789810223366
• ISBN10: 9810223366
• eBook ISBN(s): 9789812830791
• Format: Hardcover
• Copyright: 1995-09-01
• Publisher: WORLD SCIENTIFIC PUB CO INC
• More Book Details
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Summary

This book derives techniques which allow reliable plans to be automatically selected by intelligent machines. It concentrates on the uncertainty analysis of candidate plans so that a highly reliable candidate may be identified and used. For robotic components, such as a particular vision algorithm for pose estimation or a joint controller, methods are explained for directly calculating the reliability. However, these methods become excessively complex when several components are used together to complete a plan. Consequently, entropy minimization techniques are used to estimate which complex tasks will be performed reliably. The book first develops tools for directly calculating the reliability of sub-systems, and methods of using entropy minimization to greatly facilitate the analysis are explained. Since these sub-systems are used together to accomplish complex tasks, the book then explains how complex tasks can be efficiently evaluated.

Table of Contents

Preface
Selecting Reliable Plans: An Introduction	p. 1
Calculating Reliability in Multi-Dimensional Systems	p. 9
A Review of Entropy Methods	p. 23
Application to Pose Algorithms	p. 43
Reliability Optimization of Single-Input Control Systems	p. 61
Reliability Estimation Techniques	p. 77
Reliability Estimation for Complex Tasks and Systems	p. 97
Case Study: Robotic Assembly System	p. 113
Reflections on the State of the Art	p. 143
Bibliography	p. 147
Index	p. 153
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