A hybrid control approach to action coordination for mobile robots (Q5953546): Difference between revisions
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scientific article; zbMATH DE number 1695137
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | A hybrid control approach to action coordination for mobile robots |
scientific article; zbMATH DE number 1695137 |
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A hybrid control approach to action coordination for mobile robots (English)
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13 November 2002
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For the coordination of the contributions from concurrent controllers for mobile robots, a behavior based control system is modelled as a hybrid automaton, where each node corresponds to a distinct robot behavior. For the arising chattering executions, a regularization technique is suggested by adding extra nodes to the automaton. The method is then illustrated in the case of an obstacle-negotiation problem.
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coordination of concurrent controllers
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mobile robots
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hybrid automaton
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chattering
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regularization
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obstacle-negotiation problem
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