Matrix-Based Discrete Event Control for Surveillance Mobile Robotics

Authors:
Donato Di Paola;David Naso;Biagio Turchiano;Grazia Cicirelli;Arcangelo Distante
Affiliations:
Institute of Intelligent Systems for Automation (ISSIA), National Research Council (CNR), Bari, Italy;Department of Electrical and Electronic Engineering (DEE), Polytechnic of Bari, Bari, Italy;Department of Electrical and Electronic Engineering (DEE), Polytechnic of Bari, Bari, Italy;Institute of Intelligent Systems for Automation (ISSIA), National Research Council (CNR), Bari, Italy;Institute of Intelligent Systems for Automation (ISSIA), National Research Council (CNR), Bari, Italy
Venue:
Journal of Intelligent and Robotic Systems
Year:
2009

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Abstract

This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.