Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bruzzone G., Caccia M., Coletta P., Veruggio G. Execution control of robotic tasks: estimators representation. In: ICRA 2002 - IEEE International Conference on Robotics and Automation (Washington (DC), USA, 11-15 May 2002). Proceedings, vol. 4 pp. 4053 - 4058. IEEE, 2002.
This paper deals with a method to design the control architecture for mobile robots. A Petri net-based approach is extended in this work to deal with uncontrollable events. In particular, the case where an uncontrollable transition is present in the model of the task is tackled. This situation may arise, for example, when taking into account the initialization phase of the estimators.
DOI: 10.1109/ROBOT.2002.1014375
Subject Petri nets
filtering theory
mobile robots
path planning
state estimation

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