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Event-Based Cooperative Control Framework for Robot Teams

Авторы: Bychkov I., Ul'yanov S., Nagul N., Davydov A., Kenzin M., Maksimkin N.

Журнал: Communications in Computer and Information Science

Том: 1336,

Номер:

Год: 2020

Отчётный год: 2020

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Аннотация: Efficient and autonomous execution of large-scale missions using a group of robots implies the use of an advanced control system, usually consisting of multiple subsystems arranged in a hierarchy. For the purpose of unification of interaction of separate subsystems, an event-based cooperative control framework for robot teams is developed. In the paper, we demonstrate how this framework can be used in solving challenging problems in robotics: path-following problem, real-time path-planning problem, group routing problem, and action-planning problem. A novel approach to formalization and analysis of logic discrete event systems, which are the main component of the framework, based on logic calculus and automatic theorem proving is also briefly described.

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