We address the problem of the synthesis of controller programs for a variety of robotics and manufacturing tasks. The problem we choose for the 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, Petri nets approaches and temporal logic
Antoniotti, M., Mishra, B. (1995). Discrete event models+temporal logic=supervisory controller: automatic synthesis of locomotion controllers. In Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3); Nagoya, Jpn; ; 21 May 1995 through 27 May 1995 (pp.1441-1446) [10.1109/ROBOT.1995.525480].
Discrete event models+temporal logic=supervisory controller: automatic synthesis of locomotion controllers
Antoniotti, M;
1995
Abstract
We address the problem of the synthesis of controller programs for a variety of robotics and manufacturing tasks. The problem we choose for the 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, Petri nets approaches and temporal logicI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.