Information processing device, control method, and storage medium
AssigneeNEC Corporation
InventorHiroyuki Oyama
Life of this patent
Estimating the term…
Abstract
The information processing device 1B mainly includes an abstract model information acquisition unit 34X, a measurement information acquisition unit 34Y, and an abstract model generation unit 34Z. The abstract model information acquisition unit 34X is configured to acquire abstract model information I5 regarding an abstract model in which dynamics in a workspace 6 where a robot 5 performs an objective task is abstracted. The measurement information acquisition unit 34Y is configured to acquire measurement information Im indicating a measurement result in the workspace 6. The abstract model generation unit 34Z is configured to generate an abstract model Σ based on the abstract model information I5 and the measurement information Im.
Claims11
An information processing device comprising:
- at least one memory storing instructions;
- and
- at least one processor configured to execute the instructions to:
- acquire measurement information indicating measurement results in a workspace where a robot performs a task;
- acquire abstract model information indicating:
- an abstract model in which the measurement results in the workspace are abstracted by a hybrid system, the hybrid system mixing continuous and discrete dynamics;
- and
- switching conditions of the continuous and discrete dynamics in the hybrid system;
- generate the abstract model based on the abstract model information and the measurement information;
- acquire a target logical formula in temporal logic representing a final state to be achieved in performing the task;
- acquire a time step logical formula indicating a state for each time step to perform the task;
- determine a control input for controlling the robot for each time step, based on the abstract model, the target logical formula, and the time step logical formula;
- and
- control the robot in accordance with the determined control input.
A control method performed by an information processing device and comprising:
- acquiring measurement information indicating measurement results in a workspace where a robot performs a task;
- acquiring abstract model information indicating:
- an abstract model in which the measurement results in the workspace are abstracted by a hybrid system, the hybrid system mixing continuous and discrete dynamics;
- and
- switching conditions of the continuous and discrete dynamics in the hybrid system;
- generating the abstract model based on the abstract model information and the measurement information;
- acquiring a target logical formula in temporal logic representing a final state to be achieved in performing the task;
- acquiring a time step logical formula indicating a state for each time step to perform the task;
- determining a control input for controlling the robot for each time step, based on the abstract model, the target logical formula, and the time step logical formula;
- and
- controlling the robot in accordance with the determined control input.
A non-transitory computer readable storage medium storing a program executed by a computer, the program causing the computer to:
- acquire measurement information indicating measurement results in a workspace where a robot performs a task;
- acquire abstract model information indicating:
- an abstract model in which the measurement results in the workspace are abstracted by a hybrid system, the hybrid system mixing continuous and discrete dynamics;
- and
- switching conditions of the continuous and discrete dynamics in the hybrid system;
- generate the abstract model based on the abstract model information and the measurement information;
- acquire a target logical formula in temporal logic representing a final state to be achieved in performing the task;
- acquire a time step logical formula indicating a state for each time step to perform the task;
- determine a control input for controlling the robot for each time step, based on the abstract model, the target logical formula, and the time step logical formula;
- and
- control the robot in accordance with the determined control input.
Dependencies are inferred from the claim text.