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 logic
Si
paper
Automatic logic units, Automatic control, Legged locomotion, Robotics and automation,Manufacturing automation, Model Checking, Control Synthesis, Temporal Logic, Petri Nets
English
IEEE International Conference on Robotics and Automation, 1995. Proceedings 21-27 May
0-7803-1966-4
1995
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].
Antoniotti, M; Mishra, B
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/151996
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