Tightly-coupled Multi Robot Coordination using Decentralized Supervisory Control of Fuzzy Discrete Event Systems
In this paper, we address the multi robot coordination problem of tightly-coupled task execution, using a formal decentralized supervisory control approach. A general architecture for decentralized supervisory control of Fuzzy Discrete Event Systems (FDES), which is capable of modeling asynchronous event driven systems with inherited uncertainties, is developed. This architecture is then incorporated for controlling behavior-based mobile robots moving in unstructured environments while maintaining a fixed distance between each other, which resembles a tightly-coupled multi robot object manipulation task. The proposed approach is then successfully implemented in simulation with two mobile robots and a performance evaluation is also performed to investigate the validity of the proposed approach over the centralized and crisp Discrete Event System (DES) based approaches.
Awantha Jayasiri George K. I. Mann Raymond G. Gosine
Faculty of Engineering and Applied Science,Memorial University of Newfoundland,St. Johns,NL,A1B 3X5,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3358-3363
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）