CBA2016-0959 Robótica e Mecatrônica

A METHODOLOGY TO IMPLEMENT SUBSUMPTION ARCHITECTURE BASED ON DISCRETE EVENT SYSTEMS FORMALISM

Phillipe Cardoso Santos¹; Elyson Adan Nunes Carvalho¹; Lucas Molina¹; Eduardo Oliveira Freire¹

¹ Universidade Federal de Sergipe (UFS)

Resumo

This paper presents a methodology to implement subsumption architecture based on discrete event systems (DES) formalism. For this, two automata models are presented so that all behaviors can be modeled easily, even for complex tasks. It also allows the inclusion of new behaviors on the system without changing the ones previously modeled. This method is tested in real experiments for three behavior layers with a pioneer 3-DX mobile robot and results show it as a feasible and efficient approach.

Palavras-chave: Mobile Robot; Subsumption architecture; Discrete Event Systems; Automata

Como citar

Phillipe Cardoso Santos; Elyson Adan Nunes Carvalho; Lucas Molina; Eduardo Oliveira Freire. “A METHODOLOGY TO IMPLEMENT SUBSUMPTION ARCHITECTURE BASED ON DISCRETE EVENT SYSTEMS FORMALISM”. XXI Congresso Brasileiro de Automática. CBA2016. 2016. Código: CBA2016-0959