초록 ▼

A system for obtaining collective decisions from multiple control sources. The system is able to produce a single command from these control sources. Each control source corresponds to a behavior and each responds to inputs to produce a command. The system employs a piece-wise constant preference pr

A system for obtaining collective decisions from multiple control sources. The system is able to produce a single command from these control sources. Each control source corresponds to a behavior and each responds to inputs to produce a command. The system employs a piece-wise constant preference profile composed of zones, spikes, and clamps which compress the amount of the amount of data required to process behavior preferences. The system sorts commands according to command values in a chart to produce a total profile which represents the combination of profiles of the command values for multiple behaviors. The peak zone in the total profile is then used to produce a desired response to the multiple commands. The system allows behaviors to be combined through command fusion rather than subsumption. The piece-wise constant representation allows behavior commands to be combined after they have been passed through a standard control system. This permits behaviors to use any derivative of the control source\s variable that is appropriate for their function. The system has a bounded arbitration time so that control loop stability will not be disrupted by the arbitration process. The system also incorporates a method for smoothing behavior switching transients.

대표청구항 ▼

A system for producing a single command for a controlled system from a plurality of control sources, said system comprising: a plurality of control sources each responding to inputs to produce a command output represented as a piece-wise constant preference level profile covering a full continuous r

A system for producing a single command for a controlled system from a plurality of control sources, said system comprising: a plurality of control sources each responding to inputs to produce a command output represented as a piece-wise constant preference level profile covering a full continuous range of allowable command values; means for representing the piece-wise constant preference level profiles in terms of attributes in order to easily combine and sort the preference level profiles to obtain a total profile within a bounded time period; means for creating the total profile from the combination of individual preference level profiles of the plurality of control sources by adding the preference level profiles for each of the plurality of control sources; means for determining a peak zone in said total profile having the largest preference level; and means for producing a desired response in the controlled system to the command indicated by said peak zone.