Deliberative/Reactive Architecture of a Multirobot Patrol System Based on Supervisory Control Theory

被引：2

作者：

De Lima, Carolina Rutili ^{[1
]}

Khan, Said Ghani ^{[2
]}

Shah, Syed Humayoon ^{[3
]}

Lu, Cheng-Kai ^{[1
]}

机构：

[1] Natl Taiwan Normal Univ, Elect Engn Dept, Taipei 106, Taiwan

[2] Taibah Univ, Coll Engn Yanbu, Mech Engn Dept, Yanbu Branch, Medina 42353, Saudi Arabia

[3] Natl Taiwan Univ Sci & Technol, Mech Engn Dept, Taipei 106, Taiwan

来源：

IEEE SENSORS JOURNAL | 2022年 / 22卷 / 11期

关键词：

Robots; Robot sensing systems; Supervisory control; Batteries; Automata; Sensors; Multi-robot systems; Multi-robot system; supervisory control theory; border patrol; deliberative; reactive hybrid robotic architecture; discrete-event systems; automata;

D O I：

10.1109/JSEN.2022.3170238

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In a multi-robot system, several robots coordinate to perform a joint task such as border patrol, etc. There are many different methods which can be employed to model a multi-robot system. Some of these techniques are based on the discrete events systems theory. In this work, we have proposed, a novel deliberative/reactive hybrid architecture based on the supervisory control theory (SCT). We have incorporated safety requirements as well as heuristics' performance requirements into our system. We have validated our proposed architecture via several computer simulations. Simulation results confirm the effectiveness of the proposed architecture.

引用

页码：11023 / 11033

页数：11

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