{"title":"将符号离散控制器合成纳入虚拟机器人实验平台:无人驾驶飞行器协作机器人实施方案","authors":"Mete Özbaltan, Serkan Çaşka","doi":"10.3390/drones8050206","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":507567,"journal":{"name":"Drones","volume":"41 38","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Incorporating Symbolic Discrete Controller Synthesis into a Virtual Robot Experimental Platform: An Implementation with Collaborative Unmanned Aerial Vehicle Robots\",\"authors\":\"Mete Özbaltan, Serkan Çaşka\",\"doi\":\"10.3390/drones8050206\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":507567,\"journal\":{\"name\":\"Drones\",\"volume\":\"41 38\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-05-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Drones\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3390/drones8050206\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Drones","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/drones8050206","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Incorporating Symbolic Discrete Controller Synthesis into a Virtual Robot Experimental Platform: An Implementation with Collaborative Unmanned Aerial Vehicle Robots
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.