Behavior Based Robotics Using Hybrid Automata

@inproceedings{Egerstedt2000BehaviorBR,
  title={Behavior Based Robotics Using Hybrid Automata},
  author={Magnus Egerstedt},
  booktitle={HSCC},
  year={2000}
}
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… CONTINUE READING

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