Title | ||
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Scaling The Formal Synthesis Of Supervisory Control Software For Multiple Robot Systems |
Abstract | ||
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In this work we demonstrate a new approach for formally synthesizing control software for a set of cooperating ground robots. Existing discrete event system theory is applied to efficiently generate a set of modular supervisory controllers that are guaranteed to meet a given set of logical specifications (safety and nonblockingness). A subsequent synthesis step then chooses from the set of legal behaviors allowed by the modular supervisors. The efficiency of this planning step is improved through a novel combination of hierarchy and decomposition. Specifically, a global plan is generated off-line based on a formal abstraction of the full controlled system's behavior, while a local plan with a receding horizon is generated on-line based on an unabstracted model of the controlled system's behavior. The unabstracted model is built "on-the-fly" and only the portion of the model needed for the current local plan is stored at any given moment. This work also explains how the supervisory-level of control interacts with the robot-level algorithms that control each robot's heading and velocity. Finally, we present simulation results for a set of illustrative examples. |
Year | Venue | Field |
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2017 | 2017 AMERICAN CONTROL CONFERENCE (ACC) | Abstraction,Control theory,Computer science,Supervisory control,Automaton,Control engineering,Software,Modular design,Robot,Hierarchy,Scalability |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 5 | 2 |
Name | Order | Citations | PageRank |
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Hill, R.C. | 1 | 3 | 2.51 |
StéPhane Lafortune | 2 | 1738 | 181.23 |