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We introduce tools which help one to compose concurrent, hybrid control programs for a class of distributed robotic systems, assuming a palette of controllers for individual tasks is already constructed. These tools, which combine the backchaining of continuous robot behaviors with Petri nets, expand on successful work in sequential composition of robot behaviors. We apply these ideas to the design and verification of a robotic bucket brigade and to simple, distributed assembly tasks as found in automated factories.
Klavins, Eric and Koditschek, Daniel E., "A formalism for the composition of concurrent robot behaviors" (2000). Departmental Papers (ESE). Paper 361.
Date Posted: 02 June 2008
This document has been peer reviewed.