Autonomous navigation of multiple robots using supervisory control theory

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dc.creatorJaime Arturo Dulce-Galindo
dc.creatorMarcelo A. Santos
dc.creatorGuilherme V. Raffo
dc.creatorPatrícia Nascimento Pena
dc.date.accessioned2025-05-05T16:18:26Z
dc.date.accessioned2025-09-08T23:33:30Z
dc.date.available2025-05-05T16:18:26Z
dc.date.issued2019
dc.identifier.doi10.23919/ECC.2019.8796261
dc.identifier.urihttps://hdl.handle.net/1843/82023
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof18th European Control Conference (ECC)
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subject.otherRobot Navigation , Supervisory Control , Autonomous Navigation , Multiple Robots , Supervisory Control Theory , Workspace , Path Planning , Hybrid Structure , Mobile Robot , Discrete Event Systems , Autonomic System , Local Minima , Native Plants , Manufacturing Industry , Repulsive Forces , Attractive Forces , Automata , State Machine , Planning Phase , Plant Structure , Simultaneous Localization And Mapping , Local Minimum Problem , High-level Description , Closed-loop Behavior , Uncontrollable Events , Natural Projection , Navigation Problem , Robot Behavior , Unknown Environment , Plant Behavior
dc.titleAutonomous navigation of multiple robots using supervisory control theory
dc.typeArtigo de evento
local.citation.epage3203
local.citation.spage3198
local.description.resumoThis paper proposes a hybrid structure for autonomous navigation of multiple robots with tasks assigned by a centralized scheduler. Considering the robots as Discrete Event Systems (DES), the Supervisory Control Theory (SCT) is used to model and control individually the behavior of each robot of the system. Particularly, gathering deliberative and reactive motion planning algorithms through a structured procedure, it allows to obtain a hybrid planner able to perform safe navigation in a mapped workspace with unknown obstacles. Therefore, initially, the open-loop behavior and the reduced supervisors for the robots are provided and, later, a pseudocode describing the scheduler and its interaction with the robots is presented. Furthermore, as a case study, simulations considering mobile robots are carried out to corroborate the proposed framework.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8796261

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