Simulation and Implementation of Obstacle Avoidance and Synchronization Tasks using Probabilistic and Timed Supervisory Control Theory in Swarm Robotics

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Mirzaei Faezeh; POUYAN ALI AKBAR; Ferdosi Saeedeh

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modeling in Engineering Year:2019 | Volume:16 | Issue:55 Page(s): 175-190

Download Full-Text

Persian Verion

View:

340

Download:

Cites:

Information Journal Paper

Title

Simulation and Implementation of Obstacle Avoidance and Synchronization Tasks using Probabilistic and Timed Supervisory Control Theory in Swarm Robotics

Author(s)

Mirzaei Faezeh | POUYAN ALI AKBAR | Ferdosi Saeedeh | Issue Writer Certificate

Keywords

Swarm RoboticsQ1

ProbabilisticQ1

Timed Supervisory Control TheoryQ1

Obstacle Avoidance TaskQ1

Synchronization TaskQ1

ARGoS PlatformQ1

Abstract

Due to difficulties in formal implementation of swarm robotic systems, controlling software of such systems is developed in an ad-hoc manner and with trial and error. So, it is hard to reuse these systems for other similar problems. Moreover, testing, analyzing and verifying the correctness of the controller are difficult too. There is no guarantee that the implementation matches the specifications. To address these problems, supervisory control theory as a formal approach is suggested. In this paper, Probabilistic and Timed Supervisory Control Theory (ptSCT) is implemented on ARGoS Platform in swarm robotic. The proposed approach automatically calculates ptSCT, and then generates the equivalent controlling software codes. The generated controlling software can be used for both simulation and running on real robots without any changes. For comparison purposes, two tasks namely obstacle avoidance and synchronization of robots are designed using both SCT and proposed ptSCT. The approach is successfully validated in both tasks using up to 64 E-Puck robots. The experimental results show the advantages of the ptSCT, in terms of simplicity, reusability, and automatic code generation.

Cites

No record.

References

No record.

Cite

APA: Copy

Mirzaei, Faezeh, POUYAN, ALI AKBAR, & Ferdosi, Saeedeh. (2019). Simulation and Implementation of Obstacle Avoidance and Synchronization Tasks using Probabilistic and Timed Supervisory Control Theory in Swarm Robotics. JOURNAL OF MODELING IN ENGINEERING, 16(55 ), 175-190. SID. https://sid.ir/paper/359548/en

Vancouver: Copy

Mirzaei Faezeh, POUYAN ALI AKBAR, Ferdosi Saeedeh. Simulation and Implementation of Obstacle Avoidance and Synchronization Tasks using Probabilistic and Timed Supervisory Control Theory in Swarm Robotics. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2019;16(55 ):175-190. Available from: https://sid.ir/paper/359548/en

IEEE: Copy

Faezeh Mirzaei, ALI AKBAR POUYAN, and Saeedeh Ferdosi, “Simulation and Implementation of Obstacle Avoidance and Synchronization Tasks using Probabilistic and Timed Supervisory Control Theory in Swarm Robotics,” JOURNAL OF MODELING IN ENGINEERING, vol. 16, no. 55 , pp. 175–190, 2019, [Online]. Available: https://sid.ir/paper/359548/en

Related Journal Papers