Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions

Autores
Liendro, Tomás; Zudaire, Sebastián
Año de publicación
2020
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.
Sociedad Argentina de Informática
Materia
Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/3.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/114903
Acceder
id SEDICI_fa0f68f4be2587378e01e87ad2c8a2f7
oai_identifier_str oai:sedici.unlp.edu.ar:10915/114903
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling Hybrid Control from Scratch: A Design Methodology for Assured Robotic MissionsLiendro, TomásZudaire, SebastiánCiencias InformáticasDiscrete event controlHybrid controlCyber-physical systemsDesign methodologyRobotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.Sociedad Argentina de Informática2020-10info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf1-14http://sedici.unlp.edu.ar/handle/10915/114903enginfo:eu-repo/semantics/altIdentifier/url/http://49jaiio.sadio.org.ar/pdfs/asai/ASAI-01.pdfinfo:eu-repo/semantics/altIdentifier/issn/2451-7585info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/3.0/Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-11-05T13:06:06Zoai:sedici.unlp.edu.ar:10915/114903Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-11-05 13:06:06.946SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
spellingShingle Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
Liendro, Tomás
Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
title_short Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_full Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_fullStr Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_full_unstemmed Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
title_sort Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
dc.creator.none.fl_str_mv Liendro, Tomás
Zudaire, Sebastián
author Liendro, Tomás
author_facet Liendro, Tomás
Zudaire, Sebastián
author_role author
author2 Zudaire, Sebastián
author2_role author
dc.subject.none.fl_str_mv Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
topic Ciencias Informáticas
Discrete event control
Hybrid control
Cyber-physical systems
Design methodology
dc.description.none.fl_txt_mv Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.
Sociedad Argentina de Informática
description Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.
publishDate 2020
dc.date.none.fl_str_mv 2020-10
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/114903
url http://sedici.unlp.edu.ar/handle/10915/114903
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://49jaiio.sadio.org.ar/pdfs/asai/ASAI-01.pdf
info:eu-repo/semantics/altIdentifier/issn/2451-7585
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/3.0/
Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/3.0/
Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0)
dc.format.none.fl_str_mv application/pdf
1-14
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
_version_ 1847978706656559104
score 13.087074

Publicaciones similares