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Authors
Advisor(s)
Abstract(s)
Dynamical systems theory is used here as a theoretical
language and tool to design a distributed control
architecture for a team of two mobile robots that must
transport a long object and simultaneously avoid obstacles.
In this approach the level of modeling is
at the level of behaviors. A “dynamics” of behavior
is defined over a state space of behavioral variables
(heading direction and path velocity). The environment
is also modeled in these terms by representing
task constraints as attractors (i.e. asymptotically
stable states) or reppelers (i.e. unstable states) of
behavioral dynamics. For each robot attractors and
repellers are combined into a vector field that governs
the behavior. The resulting dynamical systems
that generate the behavior of the robots may be nonlinear.
By design the systems are tuned so that the
behavioral variables are always very close to one attractor.
Thus the behavior of each robot is controled
by a time series of asymptotically stable states. Computer
simulations support the validity of our dynamic
model architectures.