DocumentCode
1695547
Title
Behavior based robotics using regularized hybrid automata
Author
Egerstedt, M. ; Johansson, K. ; Lygeros, J. ; Sastry, S.
Author_Institution
Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Volume
4
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
3400
Abstract
Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete transitions in finite time (a so called Zeno hybrid automaton). This can be dealt with by a regularization procedure, involving adding extra nodes to the automaton which gives a system with similar performance as a fused behavior based system. The performance aspect is also verified experimentally
Keywords
automata theory; mobile robots; path planning; Zeno hybrid automaton; behavior based control system; behavior based robotics; fused behavior based system; regularization procedure; regularized hybrid automata; Automata; Automatic control; Computer science; Contracts; Control system synthesis; Control systems; Mobile robots; Robot kinematics; Robotics and automation; Sonar;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.827799
Filename
827799
Link To Document