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Unit 5 Techniques For Decomposition

The document outlines various decomposition techniques used in mobile robotics to simplify complex systems into manageable parts. Techniques discussed include functional, behavioral, hierarchical, spatial, temporal, modular, task, energy, and perceptual decomposition, each serving specific purposes in robot design and operation. These methods enhance the efficiency and effectiveness of robotic systems by allowing independent development and optimization of different components.

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21CS018 jayasri B
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2 views4 pages

Unit 5 Techniques For Decomposition

The document outlines various decomposition techniques used in mobile robotics to simplify complex systems into manageable parts. Techniques discussed include functional, behavioral, hierarchical, spatial, temporal, modular, task, energy, and perceptual decomposition, each serving specific purposes in robot design and operation. These methods enhance the efficiency and effectiveness of robotic systems by allowing independent development and optimization of different components.

Uploaded by

21CS018 jayasri B
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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UNIT 5

Techniques for Decomposition:

In mobile robotics, decomposition techniques help in breaking down


complex systems or problems into more manageable parts. This
approach enables roboticists to design, analyze, and implement
solutions for mobile robots effectively. Here are some commonly
used decomposition techniques in mobile robotics:

Functional Decomposition
● This technique involves breaking down the robot’s overall
functionality into smaller, manageable tasks. For instance, a
mobile robot's functions might be split into perception,
localization, mapping, planning, and control.
● Each function can be developed, tested, and improved
independently, allowing specialized teams to work on different
functions in parallel.

Behavioral Decomposition
● Behavioral decomposition divides the robot’s tasks into distinct
behaviors. For example, behaviors like obstacle avoidance,
path following, and goal seeking are each managed separately.
● In behavior-based robotics, these behaviors are often organized
into a hierarchical or subsumption architecture, allowing for
prioritized or layered responses based on environmental
stimuli.

Hierarchical Decomposition
● Hierarchical decomposition structures the control of the robot
in layers, each handling specific types of decisions. Typically,
the lower levels manage real-time tasks like motor control,
while higher levels handle strategic decisions, such as
navigation and planning.
● This structure allows real-time responses to occur at lower
levels without interrupting higher-level processing, which can
lead to more robust and responsive robot behavior.

Spatial Decomposition
● Spatial decomposition breaks down the robot’s environment
into smaller, manageable regions or grids. This can be used in
mapping (e.g., occupancy grid mapping) and path planning,
where each cell represents a portion of space that can be
analyzed separately.
● Techniques like quadtree decomposition and Voronoi diagrams
are examples, helping robots understand and navigate complex
spaces more efficiently.
Temporal Decomposition
● This method divides tasks based on time or frequency,
allowing for periodic, scheduled, or event-based actions. For
example, tasks like localization and path planning may be
executed at lower frequencies than control tasks.
● Temporal decomposition ensures that essential tasks are
performed in a timely manner, especially in scenarios requiring
real-time response.

Modular Decomposition
● Modular decomposition breaks the robot's system into separate
modules, each responsible for a specific function or part, such
as sensors, actuators, and control systems. These modules are
designed to be loosely coupled and can be tested and replaced
independently.
● Modular systems are especially useful for multi-robot systems
or when robots need to adapt to new environments, as
individual modules can be swapped or upgraded without
affecting the entire system.

Task Decomposition
● Task decomposition is breaking down high-level tasks into
smaller sub-tasks. For example, a high-level task like “explore
the environment” may be divided into subtasks such as “map
current location,” “choose next destination,” and “avoid
obstacles.”
● This technique helps in creating a more systematic
approach for achieving complex tasks, especially in
autonomous exploration and navigation.

Energy Decomposition
● This approach involves decomposing tasks based on energy
constraints or requirements, ensuring that the robot operates
within its power limitations. Tasks are split based on their
energy consumption, allowing for optimized energy
management in power-constrained systems, such as small
drones or battery-powered ground robots.

Perceptual Decomposition
● Perceptual decomposition focuses on splitting the sensory
inputs and data processing. For instance, visual, auditory, and
tactile data can be processed separately, allowing the robot to
analyze sensory information in parallel.
● This technique is often used in fusion methods, where different
types of sensor data are processed and then combined for a
comprehensive perception of the environment.

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