Departmental Papers (ESE)


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.

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Conference Paper

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Copyright 2008 IEEE. Reprinted from:
Kress-Gazit, H.; Ayanian, N.; Pappas, G.J.; Kumar, V., "Recycling controllers," Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on , vol., no., pp.772-777, 23-26 Aug. 2008

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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



Date Posted: 28 May 2009