Tham khảo tài liệu 'innovations in robot mobility and control - srikanta patnaik et al (eds) part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 28 . Lima and . Custódio a b Fig. . Indoors rescue scenario a Physical map b Topological map 1 Multi-Robot Systems 29 Fig. . Navigation automata for the Crawler Puller and Pusher robots from left to right One problem with such an approach is that the size of the finite state automaton modelling an M-robots-N-sites scenario will grow quickly with the number of robots and or sites. Our results allow checking the blocking and controllability properties of the potentially large automaton modelling the multi-robot system with the blocking and controllability properties of smaller automata designated as navigation automata which model the navigation of each individual robot in the population. In navigation automata for a given robot each state corresponds to the site where the robot is. Due to the available space we will only refer here the blocking result for heterogeneous robots homogeneous robots are a particular case with specific results . For the controllability results and other details consult 28 . Theorem In a generic N-robots-M-sites system for its modelling automaton G to be non-blocking all the navigation automata Gi i 1 . N must be non-blocking. Each Gi is a marked automaton with a marked state per site where there is at least one robot i in the target configuration. Similarly if G is blocking there is at least one i and one marked state of Gi such that Gi is blocking. One modelling example following this approach concerns a team of three heterogeneous robots with the following individual skills the Crawler has tracker wheels and is capable of climbing and descending stairs. It is able to open doors only by pushing the Puller is a wheeled mobile manipulator able to open doors either by pushing or pulling. However it is not able to climb stairs the Pusher is a wheeled robot able to open doors only by pushing. It cannot climb stairs. 30 . Lima and . Custódio The rescue operation takes place in the indoor environment depicted in Fig. . .
