Supervision of Robot Control

This work shows how to supervise a set of controllers designed by different specification to be applied at requested constrained trajectory for the autonomous mobile robot. In this paper are explained part of the control structure from local controllers to the agent level, the communication between the high supervisor and the local controller are detailed. Several controllers are designed in order to minimize different cost functions. Non-linear behavior of the robot force to work off-line to model all possible controllers, the on-line process concludes the optimal controller to realize a requested task. This work is applied over the soccer robots in the RogiTeam [1].