LAAS-CNRS Publications


Analysis of the discontinuities in prioritized tasks-space control under discrete task scheduling operations

Rapport LAAS No11635
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco (USA), 25-30Septembre 2011, 6p.


This paper examines the control continuity in hierarchical task-space controllers. While the continuity is ensured for any a priori fixed number of tasks -even in ill-conditioned configurations-, the control resulting from a hierarchical stack-of-task computation may not be continuous under some discrete events. In particular, we study how the continuity of the stack-of-task control computation is affected under discreet scheduling operations such as on-the-fly priority switching between tasks, or tasks insertion and removal, which changes the number of tasks in the stack controller. Different ways to formulate a hierarchy of tasks are presented together with their continuity properties, which is thoroughly analyzed under such discreet scheduling operations.

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Affectations: LIRMM, Montpellier, France ( LIRMM ) INRIA Rhône-Alpes, Saint Ismier ( INRIA Rhône-Alpes ) Le mouvement humanoïde ( GEPETTO ) AIST, Tsukuba, Japon ( AIST )

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