Event-based planning and control technology and the application in robotic system

Abstract

There is a growing interest in the technology of event-based planning and control. The basic idea is to introduce a new action reference variable related to the output of the system, by which the desired input and the plant are parameterized. The designer can adjust and modify the original plant in real time to generate the desired system input according to the system output and sensory information. Therefore the planning becomes a decision component and has the ability to deal with unexpected or uncertain events. The input can be adjusted automatically by the output for the realization of the control on real time. Robotic system is an intelligent system, its main character is the coordination among multiple robots. In the paper, the event-based control theory and its development are reviewed. Its application in formation of moving robots, in manufacturing system and the coordination of multi-robot are introduced. The experiment shows that the event-based planning and control technology can improve the performance of these systems. Finally, the future research directions are discussed.