Incorporating Symbolic Discrete Controller Synthesis into a Virtual Robot Experimental Platform: An Implementation with Collaborative Unmanned Aerial Vehicle Robots

Özbaltan M., ÇAŞKA S.

Drones, cilt.8, sa.5, 2024 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 8 Sayı: 5
  • Basım Tarihi: 2024
  • Doi Numarası: 10.3390/drones8050206
  • Dergi Adı: Drones
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, INSPEC, Directory of Open Access Journals
  • Anahtar Kelimeler: UAV, symbolic discrete controller synthesis, virtual robot experimental platform, collaborative robots, reactive systems, synchronous programming
  • Manisa Celal Bayar Üniversitesi Adresli: Evet

Özet

We introduce a modeling framework aimed at incorporating symbolic discrete controller synthesis (DCS) into a virtual robot experimental platform. This framework involves symbolically representing the behaviors of robotic systems along with their control objectives using synchronous programming techniques. We employed DCS algorithms through the reactive synchronous environment ReaX to generate controllers that fulfill specified objectives. These resulting controllers were subsequently deployed on the virtual robot experimental platform Simscape. To demonstrate and validate our approach, we provide an implementation example involving collaborative UAV robots.