Locally Interacting Hybrid Systems with Embedded Graph Grammars

McNew, John-Michael; Klavins, Eric

doi:10.1109/cdc.2006.376843

Cited by 28 publications

(29 citation statements)

References 12 publications

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“…Hybrid system theory (HST) offers an alternative, where the system can be represented by both discrete and continuous states. HST has been used in the context of swarm robotics, multirobot systems, and other multi-agent systems (Tomlin et al 1998;Fierro et al 2001;McNew and Klavins 2006;McNew et al 2007;Zavlanos et al 2009;Mesquita 2010;Mesquita and Hespanha 2012). Belta et al (2007), for example, use HST in a motion planning problem.…”

Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

“…Its sensory input-which other robots are perceived-is used to select the controller to be executed. In McNew and Klavins (2006);McNew et al (2007), HST is used for the problem of organising the robots into subgroups while maintaining the overall connectivity. The formal properties are guaranteed by the use of embedded graph grammars.…”

Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

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Supervisory control theory applied to swarm robotics

et al. 2016

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Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system's control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots Intell (2016) 10:65-97 are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

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Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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“…The work in [46] developed a Melt-Grow algorithm where an initial configuration is melted into an intermediate configuration, and a goal configuration is grown out of the intermediate configuration. Similar approaches include agent-based approach [47], cellular automaton generator [48], and embedded graph grammar model [49].…”

Section: Reconfiguration Problemsmentioning

confidence: 99%

Resilient Robots: Concept, Review, and Future Directions

Zhang

Gupta

2017

Robotics

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This paper reviews recent developments in the emerging field of resilient robots and the related robots that share common concerns with them, such as self-reconfigurable robots. This paper addresses the identity of the resilient robots by distinguishing the concept of resilience from other similar concepts and summarizes the strategies used by robots to recover their original function. By illustrating some issues of current resilient robots in the design of control systems, physical architecture modules, and physical connection systems, this paper shows several of the possible solutions to facilitate the development of the new and improved robots with higher resilience. The conclusion outlines several directions for the future of this field.

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“…Here we take advantage of Embedded Graph Grammars (EGGs) to tackle these constraints, as initially introduced in [14], [15]. It allows us to encode the robot dynamics, local information exchange and switching control modes in a unified hybrid scheme.…”

mentioning

confidence: 99%

Hybrid control of multi-robot systems using embedded graph grammars

Guo

Egerstedt

Dimarogonas

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Citation for the original published paper:Guo, M., Egerstedt, M., Dimarogonas, D V. (2016) Hybrid control of multi-robot systems using embedded graph grammars.In: Proceedings -IEEE International Conference on Abstract-We propose a distributed and cooperative motion and task control scheme for a team of mobile robots that are subject to dynamic constraints including inter-robot collision avoidance and connectivity maintenance of the communication network. Moreover, each agent has a local high-level task given as a Linear Temporal Logic (LTL) formula of desired motion and actions. Embedded graph grammars (EGGs) are used as the main tool to specify local interaction rules and switching control modes among the robots, which is then combined with the model-checking-based task planning module. It is ensured that all local tasks are satisfied while the dynamic constraints are obeyed at all time. The overall approach is demonstrated by simulation and experimental results.

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Locally Interacting Hybrid Systems with Embedded Graph Grammars

Cited by 28 publications

References 12 publications

Supervisory control theory applied to swarm robotics

Supervisory control theory applied to swarm robotics

Resilient Robots: Concept, Review, and Future Directions

Hybrid control of multi-robot systems using embedded graph grammars

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