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Event-Based Cooperative Control Framework for Robot Teams

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Robotics and Rehabilitation Intelligence (ICRRI 2020)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1336))

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Abstract

Efficient and autonomous execution of large-scale missions using a group of robots implies the use of an advanced control system, usually consisting of multiple subsystems arranged in a hierarchy. For the purpose of unification of interaction of separate subsystems, an event-based cooperative control framework for robot teams is developed. In the paper, we demonstrate how this framework can be used in solving challenging problems in robotics: path-following problem, real-time path-planning problem, group routing problem, and action-planning problem. A novel approach to formalization and analysis of logic discrete event systems, which are the main component of the framework, based on logic calculus and automatic theorem proving is also briefly described.

The event-triggered control framework has been mostly designed under support of the RFBR (Projects No. 20-07-00397 and No. 19-08-00746). Results of Sects. 4, 7 have been obtained under support of the Russian Science Foundation (Project No. 16-11-00053).

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Authors and Affiliations

  1. Matrosov Institute for System Dynamics and Control Theory at Siberian Branch of Russian Academy of Sciences, 134, Lermontova Street, Irkutsk, Russia

    Igor Bychkov, Sergey Ul’yanov, Nadezhda Nagul, Artem Davydov, Maksim Kenzin & Nikolay Maksimkin

Authors
  1. Igor Bychkov
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  2. Sergey Ul’yanov
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  3. Nadezhda Nagul
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  4. Artem Davydov
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  5. Maksim Kenzin
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  6. Nikolay Maksimkin
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Corresponding author

Correspondence to Sergey Ul’yanov .

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Editors and Affiliations

  1. Liaoning Shihua University, Fushun, China

    Jianhua Qian

  2. University of Portsmouth, Portsmouth, UK

    Honghai Liu

  3. Liaoning Shihua University, Fushun, China

    Jiangtao Cao

  4. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Bychkov, I., Ul’yanov, S., Nagul, N., Davydov, A., Kenzin, M., Maksimkin, N. (2020). Event-Based Cooperative Control Framework for Robot Teams. In: Qian, J., Liu, H., Cao, J., Zhou, D. (eds) Robotics and Rehabilitation Intelligence. ICRRI 2020. Communications in Computer and Information Science, vol 1336. Springer, Singapore. https://doi.org/10.1007/978-981-33-4932-2_9

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  • DOI: https://doi.org/10.1007/978-981-33-4932-2_9

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