### Optimization and Systems Theory Seminar

Tuesday, August 17, 1999, 14.00-15.00, Room 3721, Lindstedtsv. 25

**Magnus Egerstedt**

Optimization and Systems Theory

KTH

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.
*