Formal Modeling and Supervisory Control of Reconfigurable Robot Teams

Teams of land-based, airborne, or submerged robots constitute a new breed of robotic systems for which the issue of controlled behavior arises naturally. In this paper, We model the dynamics of a re-configurable (adaptable) robot team Within the formalism of the discrete event system framework from control theory. The adaptation to be handled is one or more robots switching offline. This paper presents a novel method for learning and verification following adaptation - to restore supervision and assure the behavior of the team.