DES-based coordination of space-sharing mobile robots

Authors:
Elzbieta Roszkowska
Affiliations:
Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, Poland
Venue:
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Year:
2007

Citing 2
Cited 1

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Quantitative and qualitative coordination for multi-robot systems

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Abstract

This paper presents a rigorous approach to the coordination of space-sharing mobile robots, based on the Discrete-Event-System (DES) formalism. The proposed solution provides a closed-loop, scalable control model, ensuring in a provable manner the correct concurrent robot movement. The control logics guarantee the occurrence of no collisions or deadlocks, and that each robot is able to complete its mission in a finite time. The event-driven character of the robot dynamics representation allows the implementation of the results as both a central and as a distributed supervisory control system.