Behavior modeling for hybrid robotic vehicles
Date
2011-10
Authors
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Journal ISSN
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Publisher
Department of Mechanical Engineering, University of Delaware
Abstract
The behavior of a certain class of hybrid robotic systems can be expressed
using formal languages. In this work, we show how languages can be generated from
discrete abstractions of such hybrid systems; that these languages are regular; and
they belong to the star free (SF) class of the Sub-regular hierarchy.
Planning and control of hybrid systems is typically difficult due to the computational
cost involved in predicting the system’s future states, since the states can
take infinite values while evolving along the trajectories of continuous dynamics. A
discrete abstraction of the hybrid system can reduce these values to a finite number,
thereby fascilitating the solution to the reachability problem. Abstraction enables
us to focus on planning the system’s overall behavior through controller sequences
observed in the abstract system, instead of dealing with the dynamics associated
with each controller.
Description
Keywords
Robotics, Hybrid systems, Formal languages, Abstractions