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Matrix-Based Discrete Event Control for Surveillance Mobile Robotics
Authors:Donato Di Paola  David Naso  Biagio Turchiano  Grazia Cicirelli  Arcangelo Distante
Affiliation:(1) Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 220 S. 33rd Street, 19104-6315 Philadelphia, PA, USA;(2) CSAIL Center for Robotics, Massachusetts Institute of Technology, 32 Vassar Street, 01239 Cambridge, MA, USA;(3) Department of Computer Science, University of Southern California, 3710 South McClintock Ave, 90089-2905 Los Angeles, CA, USA
Abstract:This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.
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