Supervisory Control in Construction Robotics: in the Quest for Scalability and Permissiveness
| Autor: | Marcelo Medeiros da Rosa, José E. R. Cury, Fabio L. Baldissera |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Supervisory control theory
Structure (mathematical logic) 0209 industrial biotechnology business.industry Computer science Distributed computing 020208 electrical & electronic engineering Mobile robot Robotics 02 engineering and technology Field (computer science) Computer Science::Robotics 020901 industrial engineering & automation Supervisory control Control and Systems Engineering Completeness (order theory) Scalability 0202 electrical engineering electronic engineering information engineering Artificial intelligence business |
| Zdroj: | IFAC-PapersOnLine. 53:117-122 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2021.04.012 |
| Popis: | In this paper we present a solution to a particular problem from the more general field of construction robotics. The problem we deal with consists of employing one or more mobile robots to autonomously build a user-defined 3-D structure composed of bricks of the same size. Our approach is based on Supervisory Control Theory for extended finite-state machines. The main point of our paper is to communicate our first findings on how the solution to the one-robot scenario could be modified to yield a solution to the multiple-robot scenario. Along the way we examine the scalability, completeness and non-blockingness of our proposed approach and discuss future perspectives. |
| Databáze: | OpenAIRE |
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