PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bruzzone G., Caccia M., Coletta P., Veruggio G. A reconfigurable control architecture for mobile robots. In: MED 2002 - 10th Mediterranean Conference on Control and Automation (Lisbon, Portugal, 9-12 July 2002). Proceedings, pp. 1 - 10. IEEE, 2002.
 
 
Abstract
(English)
In this paper we propose a method to design a reconfigurable control architecture for mobile robots. The Petri net formalism is used for the synthesis of an architecture that guarantees the correct behaviour of the system; the reconfiguration problem is stated as the one to mark a set of places of the net, and it is solved using heuristic search methods. Simulation results are provided to show the effectiveness of the proposed design scheme.
Subject Petri nets
Control system design
Autonomous mobile robots


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