DES-Based Coordination of Space-Sharing Mobile Robots

摘要

This paper presents a rigorous approach to the coordination of space-sharing mobile robots, based on the Discrete-Event-System (DES) formalism. The proposed solution provides a closed-loop, scalable control model, ensuring in a provable manner the correct concurrent robot movement. The control logics guarantee the occurrence of no collisions or deadlocks, and that each robot is able to complete its mission in a finite time. The event-driven character of the robot dynamics representation allows the implementation of the results as both a central and as a distributed supervisory control system.