A supervisory control strategy for robot-assisted search and rescue in hostile environments
- 1 September 2013
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)
Abstract
This work proposes a reactive supervisory control for a team of heterogeneous robots capable of autonomous navigation and cooperation in unstructured and hostile environment. The supervisor is built using classical theories of discrete event systems (DES), but it differs for its reactive capabilities. This allows to have an online evaluation and optimization for dynamic events and environments. The supervisor (high level control) interacts directly with low level control, taking into account dynamic and kinematic of the agents. The specific robotic platform includes both aerial (UAV) and ground robots but the results and applications are absolutely general.Keywords
This publication has 1 reference indexed in Scilit:
- Introduction to Discrete Event SystemsPublished by Springer Science and Business Media LLC ,2008