INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
A hybrid control architecture for mobile robots. Classic control, behavior based control, and Petri Nets
Autor/es:
HUMBERTO SECCHI; VICENTE MUT; RICARDO CARELLI; HANS SCHNEEBELI; MARIO SARCINELLI FILHO; TEODIANO FREIRE BASTOS
Lugar:
Mar del Plata
Reunión:
Simposio; VIII Reunión de Procesamiento de la Información y Control, RPIC´99; 1999
Institución organizadora:
Universidad Nacional de Mar del Plata
Resumen:
In this paper we propose a hybrid control architecture which combines aspects of classic control and behavior-based control. The aspects of continuous systems and discrete event-systems are both considered. This hybrid architecture combines the advantages of behavior-based control and classic control, allowing for a theoretical study on the stability conditions for the system. In addition, the use of Petri nets to model the discrete-event aspects enables a formal study of the conflicts between behaviors and the way to overcome them.
