Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

April 2000


Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 4, 2000, pages 3395-3402.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 02 June 2008

This document has been peer reviewed.