Behavior Based Robotics Using Hybrid Automata

In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to chattering executions, but we show how regularized automata suggest a solution to this problem. We also discuss some design and implementation issues.

• Type: Conference
• Year: 2000
• Where: HYBRID
• Authors: Magnus Egerstedt
• Keywords: Behavior Based Control, Construction Gives Rise, Control Systems, Distinct Robot Behavior, HYBRID 2000