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.
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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
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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
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