This paper proposes an approach to the problem of defining both a set of behaviours of an individual robot and the method of their composition, so that a multi-robot system executes a general task. Multi-robot box pushing as an example of the cooperative transportation task carried out by teams of robots is considered. An exemplary task consists in pushing a box by two mobile robots, that are unaware of each others actions, along a partially specified trajectory. The formal specification method of the behaviours and their composition is presented, so that their implementation is accurate and simple. The simulation results show that the presented method of designing a behaviour based controller produces a satisfactory result.
|Title of host publication
|Proceedings of the 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (on CD)
|Technical University of Szczecin
|Published - 1 May 2007