Drones (May 2024)

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

  • Mete Özbaltan,
  • Serkan Çaşka

DOI
https://doi.org/10.3390/drones8050206
Journal volume & issue
Vol. 8, no. 5
p. 206

Abstract

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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.

Keywords