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Recycling controllers
Departmental Papers (ESE)
  • Hadas Kress-Gazit, University of Pennsylvania
  • Nora Ayanian, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
  • Vijay Kumar, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
8-23-2008
Comments
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
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4626521&isnumber=4626395

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Abstract

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.

Keywords
  • 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
Citation Information
Hadas Kress-Gazit, Nora Ayanian, George J Pappas and Vijay Kumar. "Recycling controllers" (2008)
Available at: http://works.bepress.com/george_pappas/34/