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Autonomous Navigation of Mobile Robots Using Optimal Control of Finite State Automata

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3 Author(s)
Mallapragada, G. ; Dept. of Mech. Eng., Pennsylvania State Univ. ; Chattopadhyay, I. ; Ray, A.

This paper presents a novel approach to autonomous intelligent navigation of mobile robotic platforms, which is based on the concept of language-theoretic discrete-event supervisory control. The proposed algorithm combines real-time sensor data and model-based information on motion dynamics into a probabilistic finite state automaton model to dynamically compute a time-varying supervisory algorithm. The performance and robustness of the autonomous intelligent navigation algorithm have been experimentally validated on Segway RMP robotic platforms

Published in:

Decision and Control, 2006 45th IEEE Conference on

Date of Conference:

13-15 Dec. 2006

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