Execution control of robotic tasks: estimators representation
Gabriele Bruzzone, Massimo Caccia, P. Coletta, G. Veruggio · 2003
This paper deals with a method to design the control architecture for mobile robots. A Petri net-based approach is extended in this work to deal with uncontrollable events. In particular, the case where an uncontrollable transition is present in the model of the task is tackled. This situation may arise, for example, when taking into account the initialization phase of the estimators.