Recycling controllers
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General Robotics, Automation, Sensing and Perception Laboratory
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atomic controller
collision avoidance
control scheme design
deadlock reduction
discrete automaton
heterogeneous robot team
recycling controller
automata theory
collision avoidance
control system synthesis
mobile robots
multi-robot systems
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Abstract
The problem of designing control schemes for teams of robots to satisfy complex high-level tasks is a challenging problem which becomes more difficult when adding constraints on relative locations of robots. This paper presents a method for automatically creating hybrid controllers that ensure a team of heterogeneous robots satisfy some user specified high-level task while guaranteeing collision avoidance and predicting and reducing deadlock. The generated hybrid controller composes atomic controllers based on information the robots gather during runtime; thus these atomic controllers can be reused in different scenarios for multiple tasks. As a demonstration of this general approach we examine a task in which a group of robots sort different items to be recycled.