Discrete event models + temporal logic = supervisory controller: automatic synthesis of locomotion controllers

Marco Antoniotti, Bud Mishra

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper, we address the problem of the synthesis of controller programs for a variety of robotics and manufacturing tasks. The problem we choose for test and illustrative purposes is the standard 'Walking Machine Problem,' a representative instance of a real hybrid problem with both logical/discrete and continuous properties and strong mutual influence without any reasonable separation. We aim to produce a 'compiler technology' for this class of problems in a manner analogous to the development of the so-called 'Silicon Compilers' for the VLSI technology. To cope with the difficulties inherent to the problem, we resort to a novel approach that combines many key ideas from a variety of disciplines: namely, Discrete Event Supervisory Systems [14] Petri Nets approaches [8], [10] and Temporal Logic [5].

Original languageEnglish (US)
Pages (from-to)1441-1446
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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