Abstract
This paper presents a rigorous approach to the coordination of space-sharing mobile robots, based on the Discrete-Event-System (DES) formalism. The proposed solution provides a closed-loop, scalable control model, ensuring in a provable manner the correct concurrent robot movement. The control logics guarantee the occurrence of no collisions or deadlocks, and that each robot is able to complete its mission in a finite time. The event-driven character of the robot dynamics representation allows the implementation of the results as both a central and as a distributed supervisory control system.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
LaValle, S.M.: Planning Algorithms. Cambridge University Press, Cambridge (2006)
Bruce, J., Veloso, M.: Safe multirobot navigation within dynamics constraints. Proceedings of the IEEE 94(7), 1398–1411 (2006)
Lee, Y., Gupta, K., Payandeh, S.: Motion planning of multiple agents in virtual environments using coordination graphs. In: ICRA 2005, pp. 378–383. IEEE Computer Society Press, Los Alamitos (2005)
Lee, Y., Gupta, K.: Motion planning of multiple agents in virtual environments on parallel architectures. In: ICRA 2007, pp. 1009–1014. IEEE Computer Society Press, Los Alamitos (2007)
Wang, J., Premvuti, S.: Distributed traffic regulation and control for multiple autonomous mobile robots operating in discrete space. In: ICRA 1995. IEEE Int. Conf. Robotics and Automation, vol. 2, pp. 1619–1624 (1995)
Jager, M., Nebel, B.: Decentralized collision avoidance, deadlock detection, and deadlock resolution for multiple mobile robots. In: IROS 2001. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, vol. 3, pp. 1213–1219 (2001)
Cassandras, C., Lafortune, S.: Introduction to Discrete Event Systems. Kluwer Academic Publishers, Dordrecht (1999)
Roszkowska, E.: Supervisory control for multiple mobile robots in 2D space. In: RoMoCo 2002. IEEE Int. Workshop on Robot Motion Control, pp. 187–192. Publishing of Poznan University of Technology, Poznan (2002)
Roszkowska, E.: Provably correct closed-loop control for multiple mobile robot systems. In: ICRA 2005, pp. 2810–2815. IEEE Computer Society Press, Los Alamitos (2005)
Harmon, S., Aviles, W., Gage, D.: A technique for coordinating autonomous robots. In: ICRA 1986. IEEE Int. Conf. Robotics and Automation, pp. 2029–2034 (1986)
Wang, Z., Zhou, M., Ansari, N.: Ad-hoc robot wireless communication. In: IEEE Int. Conf. System, Man, and Cybernetics, vol. 4, pp. 4045–4050 (2003)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Roszkowska, E. (2007). DES-Based Coordination of Space-Sharing Mobile Robots. In: Moreno Díaz, R., Pichler, F., Quesada Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2007. EUROCAST 2007. Lecture Notes in Computer Science, vol 4739. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75867-9_130
Download citation
DOI: https://doi.org/10.1007/978-3-540-75867-9_130
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75866-2
Online ISBN: 978-3-540-75867-9
eBook Packages: Computer ScienceComputer Science (R0)