Deliberative/Reactive Architecture of a Multirobot Patrol System Based on Supervisory Control Theory
Carolina Rutili de Lima, Said Ghani Khan, Syed Humayoon Shah, Cheng‐Kai Lu · IEEE Sensors Journal · 2022
In a multi-robot system, several robots coordinate to perform a joint task such as border patrol, etc. There are many different methods which can be employed to model a multi-robot system. Some of these techniques are based on the discrete events systems theory. In this work, we have proposed, a novel deliberative/reactive hybrid architecture based on the supervisory control theory (SCT). We have incorporated safety requirements as well as heuristics’ performance requirements into our system. We have validated our proposed architecture via several computer simulations. Simulation results confirm the effectiveness of the proposed architecture.