Title :
Execution control of robotic tasks: estimators representation
Author :
Bruzzone, G. ; Caccia, M. ; Coletta, P. ; Veruggio, G.
Author_Institution :
Ist. per l´´Automazione Navale, Consiglio Nazionale delle Ricerche, Genova, Italy
Abstract :
This paper deals with a method to design the control architecture for mobile robots. A Petri net-based approach is extended in this work to deal with uncontrollable events. In particular, the case where an uncontrollable transition is present in the model of the task is tackled. This situation may arise, for example, when taking into account the initialization phase of the estimators.
Keywords :
Petri nets; filtering theory; mobile robots; navigation; path planning; state estimation; Petri net; control architecture; filtering; initialization phase; mobile robots; navigation; state estimation; uncontrollable transition; Control systems; Design methodology; Filtering; Mobile robots; Petri nets; Phase estimation; Robot control; Robot kinematics; Sensor systems; Stability;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014375
