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Hierarchical event-based control of multi-robot systems in unstructured environments

Авторы: Bychkov I., Ulyanov S., Nagul N., Davydov A., Kenzin M., Maksimkin N.

Журнал: Journal of Physics: Conference Series: Multiconference on Control Problems (MCCP 2020, 6-8 October 2020)

Том: 1864

Номер: 1

Год: 2021

Отчётный год: 2021

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Аннотация: An essential requirement for achieving a high level of performance, autonomy, and reliability of a multi-robot system performing joint long-term operations in an unstructured environment is an advanced control system. In general, the robot's control system is designed to be hierarchical and consists of several subsystems. To unify the interaction of individual components and reduce the load on computing and communication devices, we use the event-based methodology at different levels of the control system. In the paper, we demonstrate how this methodology can be applied to solve four challenging problems in robotics: cooperative formation control, path planning, missions scheduling, and action planning.

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Индексируется Scopus: 1

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