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Abstract
In this paper we provide a framework for the coordination
of a network of heterogeneous aerial robots by using temporal logic to formulate mission speci¯cations for the network of robots. The full dynamics of the aerial robots are considered, and multiple controllers that can cope with various constraints are designed to ensure that desired
reachability properties can be preserved by properly switching among the controllers. A timed automaton is then constructed for preserving the temporal properties of a given robot. For di®erent types of robots, unique temporal properties can be speci¯ed. These robots are coordinated by communicating through a single occupancy table. By using the
model checker Uppaal, a discrete plan that satis¯es a given temporal logic formula, speci¯ed in CTL, is generated for the robot to execute. Finally, the discrete plan for each robot is re¯ned into a discrete control sequence which is executed by properly switching among the controllers. The system design and deployment is presented. Experimental results
for a two-robot coordinated mission are given for demonstrating the effectiveness of the framework.
Original language | English |
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Title of host publication | Proceedings of the Ninth International Workshop on Hybrid Systems : Computation and Control (HSCC 2006) |
Number of pages | 15 |
Publication date | 2006 |
Publication status | Published - 2006 |
Event | The Ninth International Workshop on Hybrid Systems : Computation and Control (HSCC 2006) - Santa Barbara, Californía, United States Duration: 29 Mar 0006 → 31 Mar 0006 Conference number: 9 |
Conference
Conference | The Ninth International Workshop on Hybrid Systems : Computation and Control (HSCC 2006) |
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Number | 9 |
Country/Territory | United States |
City | Santa Barbara, Californía |
Period | 29/03/0006 → 31/03/0006 |
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Dive into the research topics of 'Hybrid System Design for the Coordination of Multi-Modal Aerial Robots'. Together they form a unique fingerprint.Projects
- 1 Finished
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Control of Multiple Autonomous Robots
Quottrup, M. M., Bak, T. & Izadi-Zamanabadi, R.
19/05/2010 → 01/06/2013
Project: Research
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