Behavior based robotics using regularized hybrid automata

Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete transitions in finite time (a so called Zeno hybrid automaton). This can be dealt with by a regularization procedure, involving adding extra nodes to the automaton which gives a system with similar performance as a fused behavior based system. The performance aspect is also verified experimentally