A hybrid control approach to action coordination for mobile robots

DOI10.1016/S0005-1098(01)00185-6MaRDI QIDQ5953546zbMATH OpenOpenAlexFDO

Authors Magnus Egerstedt, Xiaoming Hu

Publication date 13 November 2002

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(01)00185-6

zbMATH Keywords

chatteringcoordination of concurrent controllershybrid automatonmobile robotsobstacle-negotiation problemregularization

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Discrete event control/observation systems (93C65) Automated systems (robots, etc.) in control theory (93C85)

Review text

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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Cites work

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Cited in

(15)

• Coordination between autonomous robots.
• A distributed approach to robust control of multi-robot systems
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• A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
• Discrete event behavior-based distributed architecture design for autonomous intelligent control of mobile robots with embedded Petri nets
• scientific article; zbMATH DE number 5721013 (Why is no real title available?)
• A framework for multi-robot motion planning from temporal logic specifications
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• Adaptive behavior of autonomous mobile systems with new action selection problem solution
• Optimal control of switching time in switched stochastic systems with multi-switching times and different costs
• A General Approach to Coordination Control of Mobile Agents With Motion Constraints
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