Dynamic scheduling and Discrete Evemt Control for Tele-robotic Mining

CIM MineSpace 2001
Jamie King, Ray Gosine,
Abstract This paper describes a general framework for the control of multiple mobile robots in an unstructured or semi-structured environment. Mining, space exploration, and toxic waste cleanup are but a few examples of applications where groups of autonomous or semiautonomous robots can be of tremendous benefit. In order to be truly useful in real-world applications, however, multiple robot systems require control architectures that explicitly address the dynamic nature of the robot team and its environment while providing coordinated behavior. A general framework was developed in response to this need.
Keywords: Robotics, discrete event control, tele-robtics, dynamic scheduling
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