Discrete Event Controller: Application Using Dynamic Resource Allocation

Abstract

This work consists of developing a Discrete Event Controller with Dynamic Resource Allocation, simulating it and than applying it on a test-bed using robots and static sensor nodes. These are the contributions made: 1. Interfacing the Garcia robot with Mica2/Cricket Sensor. 2. Implementing Obstacle Avoidance and Path planning on Garcia Robot for navigational purposes. 3. Localizing the Garcia Robot with the help of Cricket sensor and controlling it from the Base Station to perform assigned tasks. 4. Simulating a Discrete Event Controller which dynamically coordinates multiple missions and simultaneously performing dynamic resource assignment and solving any shared resource conflicts. 5. Implementing the aforementioned Discrete Event Controller on a test-bed containing the Garcia robots and Mica2 sensors. The navigational techniques mentioned above is used for mobility of Garcia in the test-bed while the Base station runs the Controller managing missions, assigning robots to sensors and resolving the conflicts to prevent a deadlock.