Recycling controllers
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atomic controller
collision avoidance
control scheme design
deadlock reduction
discrete automaton
heterogeneous robot team
recycling controller
automata theory
collision avoidance
control system synthesis
mobile robots
multi-robot systems
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Abstract
The problem of designing control schemes for teams of robots to satisfy complex high-level tasks is a challenging problem which becomes more difficult when adding constraints on relative locations of robots. This paper presents a method for automatically creating hybrid controllers that ensure a team of heterogeneous robots satisfy some user specified high-level task while guaranteeing collision avoidance and predicting and reducing deadlock. The generated hybrid controller composes atomic controllers based on information the robots gather during runtime; thus these atomic controllers can be reused in different scenarios for multiple tasks. As a demonstration of this general approach we examine a task in which a group of robots sort different items to be recycled.
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Copyright 2008 IEEE. Reprinted from: Kress-Gazit, H.; Ayanian, N.; Pappas, G.J.; Kumar, V., "Recycling controllers," Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on , vol., no., pp.772-777, 23-26 Aug. 2008 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4626521&isnumber=4626395 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.