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DOI
Warianty tytułu
Języki publikacji
Abstrakty
This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.
Słowa kluczowe
Czasopismo
Rocznik
Tom
Strony
189--200
Opis fizyczny
Bibliogr. 15 poz., rys., wykr., wzory
Twórcy
autor
- Department of Cybernetics and Robotics, Faculty of Electronics, Wroclaw University of Science and Technology, ul. Janiszewskiego 11/17, 50–372 Wroclaw, Poland
Bibliografia
- [1] L. Pallattino, V. G. Scordio, A. Bicchi and E. Frazzoli: Decentralized cooperative policy for conflict resolution in multivehicle systems, IEEE Transactions on Robotics, 23, (2007), 1170-1183.
- [2] C. Tomlin, G. J. Pappas and S. Sastry: Conflict resolution for air traffic management: a study in multiagent hybrid systems, IEEE Transactions on Automatic Control, 43, (1998), 509-521.
- [3] J. Lygeros, D. N. Godbole and S. Sastry: Verified hybrid controllers for automated vehicles, IEEE Transactions on Automatic Control, 43, (1998), 522-539.
- [4] G. Inalhan, D. M. Stipanovic and C. J. Tomlin: Decentralized optimization, with application to multiple aircraft coordination, in Proc. Of CDC’02, IEEE, (2002), 1147-1155.
- [5] S. M. La Valle and S. A. Hutchinson: Optimal motion planning for multiple robots having independent goals, IEEE Transactions on Robotics & Automation, 14, pp. 912-925, 1998.
- [6] D. V. Dimarogonas, S. G. Loizou, K. J. Kyriakopoulos and M. M. Zavlanos: A feedback stabilization and collision avoidance scheme for multiple independent non-point agents, Automatica, 42, (2006), 229-243.
- [7] F. Pecora, M. Cirillo and D. Dimitrov: On mission-dependent coordination of multiple vehicles under spatial and temporal constraints, in Proc. IEEE/RAS Int. Conf. on Intelligent Robots and Systems, (2012), 5262-5269.
- [8] E. Roszkowska: Provably correct closed-loop control for multiple mobile robot systems, in Proc. of ICRA’05, IEEE, (2005), 2810-2815.
- [9] S. Reveliotis and E. Roszkowska: Conflict resolution in free-ranging multivehicle systems: A resource allocation paradigm, IEEE Transactions on Robotics, vol. 27(2), (2011), 283-296.
- [10] E. Roszkowska and S. Reveliotis: A distributed protocol for motion coordination in free-range vehicular systems, Automatica, 49(6), (2013), 1639-1653.
- [11] P. J. Davis: Interpolation and approximation, Courier Corporation, 1975.
- [12] A. Mazur: Sterowanie oparte na modelu dla nieholonomicznych manipulatorów moblinych, Oficyna Wydawnicza Politechniki Wrocławskiej, 2009.
- [13] K. Tchoń, A. Mazur, I. Dulęba, R. Hossa, and R. Muszyński: Manipulatory i roboty mobilne, Akademicka Oficyna Wydawnicza PLJ, Warszawa, 2000.
- [14] A. Mazur: Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators, International Journal of Control, 77(15), (2004), 1297–1306.
- [15] A. Micaelli and C. Samson: Path following and time-varying feedback stabilization of a wheeled robot, in Proc. of ICARCV’92, 1992.
Uwagi
EN
This work was supported by the research grant 2016/23/B/ST7/01441 funded by the National Science Center, Poland.
PL
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).
Typ dokumentu
Bibliografia
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