The synthesis of digital machines with provable epistemic properties
Proceedings of the 1986 Conference on Theoretical aspects of reasoning about knowledge
Analog VLSI and neural systems
Analog VLSI and neural systems
Analog versus digital: extrapolating from electronics to neurobiology
Neural Computation
Analog Integrated Circuits and Signal Processing
ACM SIGGRAPH 2006 Papers
Vector field design on surfaces
ACM Transactions on Graphics (TOG)
Kerneltron: support vector "machine" in silicon
IEEE Transactions on Neural Networks
Hi-index | 0.00 |
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.