Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result...

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Detalles Bibliográficos
Autores principales: Liendro, Tomás, Zudaire, Sebastián
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2020
Materias:
Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/114903
http://49jaiio.sadio.org.ar/pdfs/asai/ASAI-01.pdf
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-114903
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
spellingShingle Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
Liendro, Tomás
Zudaire, Sebastián
Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
topic_facet Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
description Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.
format Objeto de conferencia
Objeto de conferencia
author Liendro, Tomás
Zudaire, Sebastián
author_facet Liendro, Tomás
Zudaire, Sebastián
author_sort Liendro, Tomás
title Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_short Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_full Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_fullStr Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_full_unstemmed Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_sort hybrid control from scratch: a design methodology for assured robotic missions
publishDate 2020
url http://sedici.unlp.edu.ar/handle/10915/114903
http://49jaiio.sadio.org.ar/pdfs/asai/ASAI-01.pdf
work_keys_str_mv AT liendrotomas hybridcontrolfromscratchadesignmethodologyforassuredroboticmissions
AT zudairesebastian hybridcontrolfromscratchadesignmethodologyforassuredroboticmissions
bdutipo_str Repositorios
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