Hybrid motion control for multiple mobile robot systems

• Autorzy: Roszkowska E.

Identyfikatory

DOI

10.24425/123455

• Języki publikacji: EN

Abstrakty

EN

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

EN

multi-robot system; hybrid control

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2018
• Tom: Vol. 28, No. 2
• Strony: 189--200
• Opis fizyczny: Bibliogr. 15 poz., rys., wykr., wzory

Twórcy

autor

Roszkowska E.

• Department of Cybernetics and Robotics, Faculty of Electronics, Wroclaw University of Science and Technology, ul. Janiszewskiego 11/17, 50–372 Wroclaw, Poland

Bibliografia

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• [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.
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• [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.
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• [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).