论文标题
从头开始的混合控制：一种可确保的机器人任务的设计方法
Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions
论文作者
论文摘要
在过去的几十年中，机器人研究使我们建立了不同的体系结构，以自动综合离散事件控制器并在现实世界机器人方案中实施这些运动和任务计划。但是，这些体系结构通常建立在现有的机器人硬件上，因此，由于可用的功能和传感器，其设计受到影响和/或限制的解决方案。与这些方法相反，我们提出了一种设计方法，鉴于应用程序的特定领域，我们可以构建使用离散事件控制器合成来生成保证的任务计划的自主机器人系统的第一个端到端实现。我们在应用程序域的几个任务中验证了该机器人系统。
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.
