In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissan...
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ISBN:
(纸本)3540421041
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of car-like robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.
From the Publisher: This book incorporates data rate issues that arise in control design for systems involving communication networks. The general setup is that, given a plant, a communication channel with limited dat...
ISBN:
(纸本)354043237X;9783540432371
From the Publisher: This book incorporates data rate issues that arise in control design for systems involving communication networks. The general setup is that, given a plant, a communication channel with limited data rate and control objectives, one must find a controller that uses the channel in the feedback loop to achieve the control objectives. The theoretical question of interest is to find the minimum data rate necessary for the channel. This book is motivated by the recent developments in communication technology and aims at engineers and scientists in this field. The use of networks has become common practice in many control applications connecting sensors/actuators to controllers. The book therefore provides the fundamentals of the networks used in control systems, based on hybrid systems theory. The book focuses on the use of networks in distributed systems and on quantization in messages sent over networks.
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