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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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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