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.
Date of this Version
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
Date Posted: 28 May 2009