Behavior Based Robotics Using Regularized Hybrid Automata

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Title: Behavior Based Robotics Using Regularized Hybrid Automata
Author: Egerstedt, Magnus B. ; Johansson, K. ; Lygeros, J. ; Sastry, S.
Abstract: Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete transitions in finite time (a so called Zeno hybrid automaton). This can be dealt with by a regularization procedure, involving adding extra nodes to the automaton which gives a system with similar performance as a fused behavior based system. The performance aspect is also verified experimentally.
Description: (c) 1999 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/CDC.1999.827799
Type: Proceedings
ISBN: 0-7803-5250-5
Citation: M. Egerstedt, K.H. Johansson, J. Lygeros, and S. Sastry. Behavior Based Robotics Using Regularized Hybrid Automata. IEEE Conference on Decision and Control, Phoenix, AZ, Dec. 1999.
Date: 1999-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
University of California, Berkeley. Dept. of Electrical Engineering and Computer Sciences
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Automata theory
Hybrid automation
Path planning

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