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A formalism for the composition of concurrent robot behaviors

Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000

E. Klavins and D. E. Koditschek
Department of Electrical Engineering and Computer Science
University of Michigan
PDF Version|Penn ScholarlyCommons|IEEExplore

Abstract
      We introduce tools which help one to compose concurrent, hybrid control programs for a class of distributed robotic systems, assuming a palette of controllers for individual tasks is already constructed. These tools, which combine the backchaining of continuous robot behaviors with Petri nets, expand on successful work in sequential composition of robot behaviors. We apply these ideas to the design and verification of a robotic bucket brigade and to simple, distributed assembly tasks as found in automated factories.
BibTeX entry
@inproceedings{klavins-icra-2000,
  author       = { E. Klavins and D. E. Koditschek},
  title        = {A formalism for the composition of concurrent robot behaviors},
  booktitle    = {Proceedings of the IEEE International Conference on Robotics and Automation},
  year         = {2000},
  volume       = {4},
  pages        = {3395-3402},
  month        = {April}
}

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