Behavior Based Robotics Using Hybrid Automata

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Title: Behavior Based Robotics Using Hybrid Automata
Author: Egerstedt, Magnus B.
Abstract: In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to chattering executions, but we show how regularized automata suggest a solution to this problem. We also discuss some design and implementation issues.
Description: Digital Object Identifier: 10.1007/3-540-46430-1_12
Type: Book chapter
ISBN: 3-540-67259-1
Citation: M. Egerstedt. Behavior Based Robotics Using Hybrid Automata. Lecture Notes in Computer Science: Hybrid Systems III: Computation and Control, pp. 103-116, Pittsburgh, PA, Springer-Verlag, March 2000.
Date: 2000-03
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
Harvard University. Division of Engineering and Applied Sciences
Publisher: Georgia Institute of Technology
Springer Verlag
Subject: Hybrid automata
Autonomous robots
Behavior based control architecture

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