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2017
Artículos de revista
Arechavaleta, Gustavo; Morales-Diaz, America B.; Perez-Villeda, Hector Manuel; Castelan, Mario
Hierarchical Task-Based Control of Multirobot Systems With Terminal Attractors Artículo de revista
En: IEEE Transactions on Control Systems Technology, vol. 25, no 1, pp. 334 - 341, 2017, ISSN: 1063-6536.
@article{7454708,
title = {Hierarchical Task-Based Control of Multirobot Systems With Terminal Attractors},
author = {Arechavaleta, Gustavo and Morales-Diaz, America B. and Perez-Villeda, Hector Manuel and Castelan, Mario },
url = {http://ieeexplore.ieee.org/abstract/document/7454708/},
doi = {10.1109/TCST.2016.2549279},
issn = {1063-6536},
year = {2017},
date = {2017-01-01},
journal = {IEEE Transactions on Control Systems Technology},
volume = {25},
number = {1},
pages = {334 - 341},
abstract = {This brief proposes a hierarchical control scheme based on the definition of a set of multirobot task functions. To deal with the inherent conflicts between tasks, a strict hierarchy is imposed on them. We present a novel scheme that copes with two main difficulties shared in standard task-based controllers: 1) to impose a desired time convergence of tasks and 2) to avoid discontinuous task transitions occurred when a task is inserted or removed in the hierarchical structure. As a result, continuous input references are generated for the low-level control of the group. The validation is achieved in simulation and by performing an experiment with wheeled mobile robots.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This brief proposes a hierarchical control scheme based on the definition of a set of multirobot task functions. To deal with the inherent conflicts between tasks, a strict hierarchy is imposed on them. We present a novel scheme that copes with two main difficulties shared in standard task-based controllers: 1) to impose a desired time convergence of tasks and 2) to avoid discontinuous task transitions occurred when a task is inserted or removed in the hierarchical structure. As a result, continuous input references are generated for the low-level control of the group. The validation is achieved in simulation and by performing an experiment with wheeled mobile robots.
