3 research outputs found
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 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
Implementaci贸n de un controlador h铆brido en un sistema rob贸tico aut贸nomo
En este trabajo se presenta el proceso de dise帽o e implementaci贸n llevado a cabo
para la construcci贸n de un robot aut贸nomo basado en controladores h铆bridos. Haciendo
uso de la t茅cnica de planning, se logr贸 planificar misiones de patrullaje en zonas con
y sin obst谩culos (motion planning), misiones donde el robot debe emitir una alerta al
ingresar a una regi贸n y misiones de ordenamiento de una caja en un entorno acotado
(task planning). Se utiliz贸 el software MTSA (The Modal Transition System Analyser)
para la s铆ntesis de controladores discretos ((correctos por construcci贸n)) que satisfagan
un modelo del sistema rob贸tico real y las propiedades que en dicho sistema deben
cumplirse. Adem谩s, se presenta una metodolog铆a que pretende sistematizar el proceso
de dise帽o de robots basado en controladores h铆bridos a partir de un enfoque en el que
la especificaci贸n de la misi贸n tiene un rol central. El proceso de dise帽o fue validado
mediante la realizaci贸n de diferentes misiones con un prototipo rob贸tico construido por
manufactura aditiva (impresi贸n 3D) y con un entorno de simulaci贸n dise帽ado para tal
fin
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 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.Sociedad Argentina de Inform谩tic