Kaszubowski Lopes, Y., Trenkwalder, S.M., Leal, A.B. et al. (2 more authors) (2020) Supervisory control of robot swarms using public events. In: Proceedings of 2020 IEEE International Conference on Robotics and Automation (ICRA). 2020 IEEE International Conference on Robotics and Automation (ICRA), 31 May - 31 Aug 2020, Paris, France. IEEE , pp. 7193-7199. ISBN 9781728173962
Abstract
Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) events that are shared among robots. The extended framework allows to model formally the interactions among the robots. It is evaluated using a case study, where a group of mobile robots need to synchronise their movements in space and time-a requirement that is specified at the formal level. We validate our approach through experiments with groups of e-puck robots.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Collision avoidance; Robot sensing systems; Mobile robots; Generators; Supervisory control |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 27 Apr 2020 09:00 |
Last Modified: | 15 Sep 2021 00:38 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA40945.2020.9197418 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:159797 |