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Matrix-Based Discrete Event Control for Surveillance Mobile Robotics

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Abstract

This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.

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Authors and Affiliations

  1. Institute of Intelligent Systems for Automation (ISSIA), National Research Council (CNR), Bari, Italy

    Donato Di Paola, Grazia Cicirelli & Arcangelo Distante

  2. Department of Electrical and Electronic Engineering (DEE), Polytechnic of Bari, Bari, Italy

    David Naso & Biagio Turchiano

Authors
  1. Donato Di Paola
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  2. David Naso
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  3. Biagio Turchiano
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  4. Grazia Cicirelli
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  5. Arcangelo Distante
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Correspondence to Donato Di Paola.

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Di Paola, D., Naso, D., Turchiano, B. et al. Matrix-Based Discrete Event Control for Surveillance Mobile Robotics. J Intell Robot Syst 56, 513 (2009). https://doi.org/10.1007/s10846-009-9326-x

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