NDLI: A quasi-formal approach to structuring multi-robot system controllers

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A quasi-formal approach to structuring multi-robot system controllers

Content Provider	IEEE Xplore Digital Library
Author	Zielinski, C.
Copyright Year	2001
Description	Author affiliation: Inst. of Control & Comput., Warsaw Univ. of Technol., Poland (Zielinski, C.)
Abstract	The paper presents a formal approach to structuring multi-robot system controllers. It was used to structure the MRROC++ based controllers. The deduced structure is as such that on the one hand it is not too complex for implementation and on the other hand it does not limit the tasks that can be executed. Both coordinated and uncoordinated motions are taken into account. The use of diverse sensors is also considered. This approach enables the classification of motion generators and execution conditions giving further insight into the future performance of the designed system. The same approach can be used to elaborate different structures to the one used by MRROC++ based systems.
Sponsorship	IEEE
Starting Page	121
Ending Page	128
File Size	1048842
Page Count	8
File Format	PDF
ISBN	8371435150
DOI	10.1109/ROMOCO.2001.973442
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-10-20
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multirobot systems Control systems Robot sensing systems Robot programming Robot kinematics Libraries Service robots Hardware Switches Prototypes
Content Type	Text
Resource Type	Article

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