Open AccessBehavior Based Robotics Using Hybrid Automata
Author(s) -
Magnus Egerstedt
Publication year - 2000
Publication title -
lecture notes in computer science
Language(s) - English
Resource type - Book series
SCImago Journal Rank - 0.249
H-Index - 400
eISSN - 1611-3349
pISSN - 0302-9743
ISBN - 3-540-67259-1
DOI - 10.1007/3-540-46430-1_12
Subject(s) - automaton , computer science , robotics , robot , artificial intelligence , node (physics) , hybrid automaton , theoretical computer science , structural engineering , engineering
Digital Object Identifier: 10.1007/3-540-46430-1_12In this article, we show how a behavior based control system
for autonomous robots can be modeled as a hybrid automaton, where
each node corresponds to a distinct robot behavior. This type of construction
gives rise to chattering executions, but we show how regularized
automata suggest a solution to this problem. We also discuss some
design and implementation issues
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