Autonomous navigation of mobile robots using optimal control of finite state automata

Goutham Mallapragada, Ishanu Chattopadhyay, Asok Ray

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish (US)
    Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
    Pages2400-2405
    Number of pages6
    StatePublished - 2006
    Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
    Duration: Dec 13 2006Dec 15 2006

    Other

    Other45th IEEE Conference on Decision and Control 2006, CDC
    CountryUnited States
    CitySan Diego, CA
    Period12/13/0612/15/06

    Fingerprint

    Finite automata
    Mobile robots
    Navigation
    Robotics
    Sensors

    All Science Journal Classification (ASJC) codes

    • Chemical Health and Safety
    • Control and Systems Engineering
    • Safety, Risk, Reliability and Quality

    Cite this

    Mallapragada, G., Chattopadhyay, I., & Ray, A. (2006). Autonomous navigation of mobile robots using optimal control of finite state automata. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 2400-2405). [4177434]
    Mallapragada, Goutham ; Chattopadhyay, Ishanu ; Ray, Asok. / Autonomous navigation of mobile robots using optimal control of finite state automata. Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. pp. 2400-2405
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    Mallapragada, G, Chattopadhyay, I & Ray, A 2006, Autonomous navigation of mobile robots using optimal control of finite state automata. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177434, pp. 2400-2405, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06.

    Autonomous navigation of mobile robots using optimal control of finite state automata. / Mallapragada, Goutham; Chattopadhyay, Ishanu; Ray, Asok.

    Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 2400-2405 4177434.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    Mallapragada G, Chattopadhyay I, Ray A. Autonomous navigation of mobile robots using optimal control of finite state automata. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 2400-2405. 4177434