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. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Roszkowska, E. (2007). DES-based coordination of space-sharing mobile robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4739 LNCS, pp. 1041–1048). Springer Verlag. https://doi.org/10.1007/978-3-540-75867-9_130
Mendeley helps you to discover research relevant for your work.