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Behavior Based Robotics Using Hybrid Automata

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Hybrid Systems: Computation and Control (HSCC 2000)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1790))

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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.

This work was sponsored in part by the Swedish Foundation for Strategic Research through its Centre for Autonomous Systems at KTH.

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Author information

Authors and Affiliations

  1. Division of Optimization and Systems Theory, Royal Institute of Technology, SE - 100 44, Stockholm, Sweden

    Magnus Egerstedt

Authors
  1. Magnus Egerstedt
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Editor information

Editors and Affiliations

  1. Laboratory for Computer Science, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA

    Nancy Lynch

  2. Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, 15235, USA

    Bruce H. Krogh

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© 2000 Springer-Verlag Berlin Heidelberg

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Egerstedt, M. (2000). Behavior Based Robotics Using Hybrid Automata. In: Lynch, N., Krogh, B.H. (eds) Hybrid Systems: Computation and Control. HSCC 2000. Lecture Notes in Computer Science, vol 1790. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46430-1_12

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  • DOI: https://doi.org/10.1007/3-540-46430-1_12

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67259-3

  • Online ISBN: 978-3-540-46430-3

  • eBook Packages: Springer Book Archive

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