TY - GEN
T1 - Timed automata based motion planning for a self-Assembly robot system
AU - Wang, Rui
AU - Luo, Ping
AU - Guan, Yong
AU - Wei, Hongxing
AU - Li, Xiaojuan
AU - Zhang, Jie
AU - Song, Xiaoyu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Sambot is a module robot system, with The advantages of self-Assembly. A Target robotic configuration can be organized by a group of Sambots. A novel motion planning method for Sambot configuration using model checking is presented in This paper. This hierarchical method contains Two layers. The abstract logic layer is responsible for The discrete planning of Sambots configuration. The robot and The environment are all modeled as Timed automata. System requirements are formalized as Computational Tree Logic (CTL) formulas. Model checking is applied on The system model. The verification result gives The optimal discrete plans for The configuration of Sambot. In physical layer, a sample-based planner generates The Trajectory Trace considering The dynamics of Sambot and The suggested high level plans. The experiment results illustrate The effectiveness of our approach.
AB - Sambot is a module robot system, with The advantages of self-Assembly. A Target robotic configuration can be organized by a group of Sambots. A novel motion planning method for Sambot configuration using model checking is presented in This paper. This hierarchical method contains Two layers. The abstract logic layer is responsible for The discrete planning of Sambots configuration. The robot and The environment are all modeled as Timed automata. System requirements are formalized as Computational Tree Logic (CTL) formulas. Model checking is applied on The system model. The verification result gives The optimal discrete plans for The configuration of Sambot. In physical layer, a sample-based planner generates The Trajectory Trace considering The dynamics of Sambot and The suggested high level plans. The experiment results illustrate The effectiveness of our approach.
UR - https://www.scopus.com/pages/publications/84929191061
U2 - 10.1109/ICRA.2014.6907686
DO - 10.1109/ICRA.2014.6907686
M3 - 会议稿件
AN - SCOPUS:84929191061
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5624
EP - 5629
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -