Supervisory Control of Robot Swarms Using Public Events

Yuri Kaszubowski Lopes; Stefan M. Trenkwalder; Andre B. Leal; Tony J. Dodd; Roderich Groß

doi:10.1109/ICRA40945.2020.9197418

Supervisory Control of Robot Swarms Using Public Events

Yuri Kaszubowski Lopes
, Stefan M. Trenkwalder
, Andre B. Leal
, Tony J. Dodd
, Roderich Groß

Research output: Chapter in Book/Published conference output › Conference publication

4 Citations (Scopus)

Abstract

Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) events that are shared among robots. The extended framework allows to model formally the interactions among the robots. It is evaluated using a case study, where a group of mobile robots need to synchronise their movements in space and time - a requirement that is specified at the formal level. We validate our approach through experiments with groups of e-puck robots.

Original language	English
Title of host publication	2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Publisher	IEEE
Pages	7193-7199
Number of pages	7
ISBN (Electronic)	9781728173955
DOIs	https://doi.org/10.1109/ICRA40945.2020.9197418
Publication status	E-pub ahead of print - 15 Sept 2020
Event	2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France Duration: 31 May 2020 → 31 Aug 2020

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Country/Territory	France
City	Paris
Period	31/05/20 → 31/08/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Access to Document

10.1109/ICRA40945.2020.9197418

https://eprints.whiterose.ac.uk/id/eprint/159797/

Cite this

Lopes, Y. K., Trenkwalder, S. M., Leal, A. B., Dodd, T. J., & Groß, R. (2020). Supervisory Control of Robot Swarms Using Public Events. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 (pp. 7193-7199). Article 9197418 (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. Advance online publication. https://doi.org/10.1109/ICRA40945.2020.9197418

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title = "Supervisory Control of Robot Swarms Using Public Events",

abstract = "Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) events that are shared among robots. The extended framework allows to model formally the interactions among the robots. It is evaluated using a case study, where a group of mobile robots need to synchronise their movements in space and time - a requirement that is specified at the formal level. We validate our approach through experiments with groups of e-puck robots.",

author = "Lopes, \{Yuri Kaszubowski\} and Trenkwalder, \{Stefan M.\} and Leal, \{Andre B.\} and Dodd, \{Tony J.\} and Roderich Gro{\ss}",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020",

year = "2020",

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day = "15",

doi = "10.1109/ICRA40945.2020.9197418",

language = "English",

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Lopes, YK, Trenkwalder, SM, Leal, AB, Dodd, TJ & Groß, R 2020, Supervisory Control of Robot Swarms Using Public Events. in 2020 IEEE International Conference on Robotics and Automation, ICRA 2020., 9197418, Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 7193-7199, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9197418

Supervisory Control of Robot Swarms Using Public Events. / Lopes, Yuri Kaszubowski; Trenkwalder, Stefan M.; Leal, Andre B. et al.
2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE, 2020. p. 7193-7199 9197418 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Published conference output › Conference publication

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T1 - Supervisory Control of Robot Swarms Using Public Events

AU - Lopes, Yuri Kaszubowski

AU - Trenkwalder, Stefan M.

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AU - Dodd, Tony J.

AU - Groß, Roderich

PY - 2020/9/15

Y1 - 2020/9/15

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AB - Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) events that are shared among robots. The extended framework allows to model formally the interactions among the robots. It is evaluated using a case study, where a group of mobile robots need to synchronise their movements in space and time - a requirement that is specified at the formal level. We validate our approach through experiments with groups of e-puck robots.

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M3 - Conference publication

AN - SCOPUS:85092715544

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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Y2 - 31 May 2020 through 31 August 2020

ER -

Supervisory Control of Robot Swarms Using Public Events

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