DocumentCode
3057800
Title
Task planning for service robots with optimal supervisory control
Author
Jo, Hyun-Wook ; Ahn, Jae-Ho ; Park, Jun-Sang ; Oh, Jun-Han ; Lim, Jong-Tae
Author_Institution
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
fYear
2010
fDate
28-30 June 2010
Firstpage
303
Lastpage
308
Abstract
The problem of task planning for multiple service robot using supervisory control of discrete event systems is considered. We apply the optimal supervisory control technique to obtain the cost efficient task planning without degrading the quality of service. Specifically the cost function is assigned to each state transition. Then, we introduce an algorithm to minimize the maximum cost. Through an example, we verify the usefulness of our algorithm.
Keywords
discrete event systems; optimal control; service robots; discrete event systems; optimal supervisory control; quality of service; service robots; task planning; Control systems; Cost function; Degradation; Discrete event systems; Hardware; Path planning; Quality of service; Service robots; Supervisory control; Technology planning; DES; Optimal Supervisory Control; Service Robot; Task Planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-6503-3
Type
conf
DOI
10.1109/RAMECH.2010.5513172
Filename
5513172
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