DocumentCode
697092
Title
Decentralized supervisory control of a set of mobile robots
Author
Aicardi, M. ; Baglietto, M.
Author_Institution
Dept. of Commun., Univ. of Genoa, Genoa, Italy
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
557
Lastpage
561
Abstract
We consider a pool of mobile vehicles with unicycle-like kinematics. During the motion and on the basis of the state variables a function defines if there is the need of coordinating the motion of a set of vehicles. When a group of mobile robots establish the need of coordination, they form a “team”. The birth of a team is an event. A sequence of intermediate targets is then assigned to each vehicle, in order to overcome the congestion situation.
Keywords
decentralised control; mobile robots; multi-robot systems; robot kinematics; decentralized supervisory control; mobile robot team; mobile vehicles; state variables; unicycle-like kinematics; Equations; Level control; Mobile communication; Mobile robots; Robot kinematics; Vehicles; Control of complex systems; Decentralized Systems; Mobile robots; Supervisory control; Vehicle and transportation systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7075966
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