Abstract
The paper contributes with a hybrid controller for multiple mobile robot systems (MMRS) that ensures the correct accomplishment of its mission by each robot. We capitalize on earlier results concerning the supervision of the robot flow, in particular the concept of partitioning the motion area into cells. Then the system comprises three control levels: DES (Discrete Event System) based cell-transition controller, APF (Artificial Potential Field) based cell-traverse controller, and CTS (Continuous Time System) based robot motion controller. The breakdown of the coordination concept into two control levels allows the optimal solution of the system liveness problem, and the holistic approach to the control of MMRS provides for its direct implementation in both a simulator and a real-robot test-bed.
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