DocumentCode :
3623358
Title :
Application of discrete events systems for modeling and controlling robotic agents
Author :
J. Kosecka;L. Bogoni
Author_Institution :
Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
fYear :
1994
Firstpage :
2557
Abstract :
In this paper we present a framework for modeling behaviors and tasks for heterogeneous robotic agents. For this purpose we have adopted a formalism from the discrete events systems (DES) theory. We distinguish two kinds of scenarios. In the first one, reactive behaviors of mobile agents directly connect observations with actions. The overall objective is to achieve controllability of the system which is composed from modular components operating in parallel. In the second one, observations are implicitly connected with actions and the objective is to design an observer for manipulatory tasks which would guarantee the task´s observability. The use of the DES formalism allows one to describe complex interactions between different components in a systematic fashion and guarantee some control-theoretic properties. We demonstrate our approach by presenting examples of navigation, obstacle avoidance, piercing and picking.
Keywords :
"Robot control","Navigation","Controllability","Automata","Observability","Control systems","Application software","Laboratories","Information science","Mobile agents"
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351127
Filename :
351127
Link To Document :
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