Control Program Design of Networked Distributed Mobile Robot Systems Using Discrete Event Net Based Inter-Task Synchronous Communication

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net-based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control, and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

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A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems

Encyclopedia of Information Science and Technology, Fourth Edition ◽

10.4018/978-1-5225-2255-3.ch592 ◽

2018 ◽

pp. 6836-6846

Author(s):

Gen'ichi Yasuda

Keyword(s):

Mobile Robot ◽

Distributed Control ◽

Cooperative Control ◽

Behavioral Control ◽

Discrete Event ◽

Control Approach ◽

Robot Systems ◽

Command Input ◽

High Level ◽

Control Modules

This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.

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Control synthesis for multiple mobile robot systems

Transactions of the Institute of Measurement and Control ◽

10.1177/01423312211047061 ◽

2021 ◽

pp. 014233122110470

Author(s):

Elzbieta Roszkowska ◽

Janusz Jakubiak

Keyword(s):

Mobile Robot ◽

Supervisory Control ◽

Robot Control ◽

Discrete Event ◽

Control Level ◽

Hybrid Approach ◽

Control Synthesis ◽

Robot Motion ◽

Time Model ◽

Robot Systems

This work continues our study on the control synthesis for multiple mobile robot systems (MMRS). We assume a hybrid approach that comprises the supervisory control level, based on a discrete event model of MMRS, and the robot control level, based on a continuous time model of the robot motion. Our objective is to further develop the control concept towards its implementation in a real-world application – a testbed for a fleet of six laboratory robots. In the first part of the paper, we develop a methodology of the supervisory control synthesis, that employs the Petri net formalism and formally ensures the required logics of MMRS operation, as well as propose a relevant architecture of the supervisor. The second part is focused on the low-level robot control and control procedures enabling modification of the robot motion according to the supervisor’s decisions. A simulation case is presented that illustrates the operation of the system.

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