Title:
A Hybrid Control Approach to Action Coordination for Mobile Robots
A Hybrid Control Approach to Action Coordination for Mobile Robots
| dc.contributor.author | Egerstedt, Magnus B. | |
| dc.contributor.author | Hu, Xiaoming | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Harvard University. Division of Engineering and Applied Sciences | |
| dc.contributor.corporatename | Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori | |
| dc.date.accessioned | 2011-05-17T15:06:59Z | |
| dc.date.available | 2011-05-17T15:06:59Z | |
| dc.date.issued | 2002-01 | |
| dc.description | Digital Object Identifier: 10.1016/S0005-1098(01)00185-6 | en_US |
| dc.description.abstract | In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobile robots, is investigated. It is shown how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to chattering executions, but it is shown how regularized automata can be used to solve this problem. As an illustration, the obstacle-negotiation problem is solved by using a combination of a robust path-following behavior and a reactive obstacle-avoidance behavior that move the robot around a given obstacle at a predefined safety distance. | en_US |
| dc.identifier.citation | M. Egerstedt and X. Hu. A Hybrid Control Approach to Action Coordination for Mobile Robots. Automatica, Vol. 38, No. 1, pp. 125-130, Jan. 2002. | en_US |
| dc.identifier.issn | 0005-1098 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38905 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Elsevier | |
| dc.subject | Mobile robots | en_US |
| dc.subject | Hybrid dynamic systems | en_US |
| dc.subject | Motion control | en_US |
| dc.subject | Path planning | en_US |
| dc.title | A Hybrid Control Approach to Action Coordination for Mobile Robots | en_US |
| dc.type | Text | |
| dc.type.genre | Article | |
| dspace.entity.type | Publication | |
| local.contributor.author | Egerstedt, Magnus B. | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
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