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Formal Modeling and Supervisory Control of Reconfigurable Robot Teams

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Formal Approaches to Agent-Based Systems (FAABS 2002)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2699))

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Abstract

Teams of land-based, airborne, or submerged robots constitute a new breed of robotic systems for which the issue of controlled behavior arises naturally. In this paper, we model the dynamics of a reconfigurable (adaptable) robot team within the formalism of the discrete event system framework from control theory. The adaptation to be handled is one or more robots switching offline. This paper presents a novel method for learning and verification following adaptation – to restore supervision and assure the behavior of the team.

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Author information

Authors and Affiliations

  1. Department of Weapons and Systems Engineering, United States Naval Academy, 105 Maryland Avenue, Annapolis, MD, 21402, USA

    Kiriakos Kiriakidis

  2. Computer Science Department, College of Engineering, University of Wyoming, Laramie, WY, 82071, USA

    Diana F. Gordon-Spears

Authors
  1. Kiriakos Kiriakidis
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  2. Diana F. Gordon-Spears
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Loyola College in Maryland, MD 21210, Baltimore, USA

    Michael G. Hinchey

  2. Advanced Architectures and Automation Branch, NASA Goddard Space Flight Center, MD 20771, Greenbelt, USA

    James L. Rash

  3. NASA Goddard Space Flight Center, MD 20771, Greenbelt, USA

    Walter F. Truszkowski

  4. Advanced Technology Laboratories, Lockheed Martin Corporation, VA 22203, Arlington, USA

    Christopher Rouff

  5. Computer Science Department, University ofWyoming, WY 82070, Laramie, USA

    Diana Gordon-Spears

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© 2003 Springer-Verlag Berlin Heidelberg

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Kiriakidis, K., Gordon-Spears, D.F. (2003). Formal Modeling and Supervisory Control of Reconfigurable Robot Teams. In: Hinchey, M.G., Rash, J.L., Truszkowski, W.F., Rouff, C., Gordon-Spears, D. (eds) Formal Approaches to Agent-Based Systems. FAABS 2002. Lecture Notes in Computer Science(), vol 2699. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45133-4_8

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  • DOI: https://doi.org/10.1007/978-3-540-45133-4_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-40665-5

  • Online ISBN: 978-3-540-45133-4

  • eBook Packages: Springer Book Archive

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