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Hybrid control of multi-robot systems using embedded graph grammars
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2016 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2016, 5242-5247 p., 7487733Conference paper, Published paper (Refereed)
Abstract [en]

We propose a distributed and cooperative motion and task control scheme for a team of mobile robots that are subject to dynamic constraints including inter-robot collision avoidance and connectivity maintenance of the communication network. Moreover, each agent has a local high-level task given as a Linear Temporal Logic (LTL) formula of desired motion and actions. Embedded graph grammars (EGGs) are used as the main tool to specify local interaction rules and switching control modes among the robots, which is then combined with the model-checking-based task planning module. It is ensured that all local tasks are satisfied while the dynamic constraints are obeyed at all time. The overall approach is demonstrated by simulation and experimental results.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 5242-5247 p., 7487733
Keyword [en]
Context sensitive grammars, Cooperative communication, Embedded systems, Formal languages, Graph theory, Model checking, Multipurpose robots, Robot programming, Robots, Temporal logic, Connectivity maintenance, Cooperative motion, Dynamic constraints, Linear temporal logic, Local interactions, Multi-robot systems, Robot collisions, Switching Control, Robotics
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-197242DOI: 10.1109/ICRA.2016.7487733ISI: 000389516204069Scopus ID: 2-s2.0-84977548788ISBN: 9781467380263 (print)OAI: oai:DiVA.org:kth-197242DiVA: diva2:1052588
Conference
2016 IEEE International Conference on Robotics and Automation, ICRA 2016, 16 May 2016 through 21 May 2016
Note

QC  20161207

Available from: 2016-12-07 Created: 2016-11-30 Last updated: 2017-07-04Bibliographically approved

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CiteExportLink to record
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Citation style
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