Hierarchical hybrid control for Multiple Mobile Robot Systems
Elżbieta Roszkowska, Piotr Dulewicz, Lukasz Janiec · IFAC-PapersOnLine · 2019
The paper presents a hybrid (discrete-event/continuous-time) control concept for a system of mobile robots sharing a common motion space. The logics underlying its construction formally ensures collision-free and deadlock-free motion of the robots, and the modular structure of the controller allows for its modification and experimental optimization.