Supervision of multiple-robot systems

Abstract

Teams of miniature robots (land-based, airborne, or submerged) constitute a new breed of robotic systems where the issue of controlled behavior arises naturally. At the highest level, the dynamics of such systems are event-driven. Herein, we consider multiple-robot systems whose robot units go off-line upon the occurrence of certain events. To supervise such event-varying structure, we propose an adaptive supervisory control method.