Optimization and Systems Theory Seminar
Tuesday, August 17, 1999, 14.00-15.00, Room 3721, Lindstedtsv. 25

Magnus Egerstedt
Optimization and Systems Theory
E-mail: magnuse@math.kth.se

Behavior based robotics using hybrid automata

This talk investigates 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 is desirable since the automata framework allows us to deal with so called emergent phenomena in a systematic way, by focusing on safety and performance verification explicitly. However, this type of construction can also potentially give rise to chattering executions, but we show how regularized automata suggest a solution to this problem. We also discuss some design and implementation issues.
Calendar of seminars
Last update: August 16, 1999 by Anders Forsgren, anders.forsgren@math.kth.se.