用形式化方法自动合成多机器人3D建造的协同控制器
A Formal Modular Synthesis Approach for the Coordination of 3-D Robotic Construction with Multi-robots
- 基于监督控制理论，从单机模型和目标结构建模生成正确性保障的控制器
- 控制器可复制部署，实现多机器人协同完成3D结构建造
- 适合机器人系统设计、自动化施工等需要高可靠性的场景
本文研究多机器人协同构建3D结构的问题，涉及一组移动机器人通过相互协作自主完成预定义3D结构的建造。我们的方法基于监督控制理论，能够从表示单个机器人行为及目标结构的模型中，自动合成一个保证正确性的反应式控制器（即监督器）。当该监督器被复制应用于其他机器人时，所有机器人可协同完成目标结构的建造。
原文摘要 · Abstract (English)
In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our approach is based on Supervisory Control Theory, and it allows us to synthesize from models that represent a single robot and the target structure a correct-by-construction reactive controller, called supervisor. When this supervisor is replicated for the other robots, then the target structure can be completed by all robots
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