Matrix-based discrete event control for surveillance mobile robotics. (English) Zbl 1203.68223
Summary: This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.
MSC:
| 68T40 | Artificial intelligence for robotics |
| 68T20 | Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) |
| 93C85 | Automated systems (robots, etc.) in control theory |
Software:
CARMENReferences:
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