Task planning for service robots with optimal supervisory control
Hyun‐Wook Jo, Jaeho Ahn, Jun‐Sang Park, Jun-Han Oh, Jong‐Tae Lim · 2010
The problem of task planning for multiple service robot using supervisory control of discrete event systems is considered. We apply the optimal supervisory control technique to obtain the cost efficient task planning without degrading the quality of service. Specifically the cost function is assigned to each state transition. Then, we introduce an algorithm to minimize the maximum cost. Through an example, we verify the usefulness of our algorithm.