This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.
|Autori interni:||NASO, David|
DI PAOLA, DONATO
|Titolo:||Matrix-Based Discrete Event Control for Surveillance Mobile Robotics|
|Rivista:||JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS|
|Data di pubblicazione:||2009|
|Digital Object Identifier (DOI):||10.1007/s10846-009-9326-x|
|Appare nelle tipologie:||1.1 Articolo in rivista|