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].

Antoniotti, M., Mishra, B. (1995). Discrete event models + temporal logic = supervisory controller: automatic synthesis of locomotion controllers. In Proceedings of 1995 IEEE International Conference on Robotics and Automation (pp.1441-1446). IEEE [10.1109/ROBOT.1995.525480].

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

Antoniotti, M;
1995

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].
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 - 21-27 May 1995
1995
Proceedings of 1995 IEEE International Conference on Robotics and Automation
0-7803-1966-4
1995
2
1441
1446
none
Antoniotti, M., Mishra, B. (1995). Discrete event models + temporal logic = supervisory controller: automatic synthesis of locomotion controllers. In Proceedings of 1995 IEEE International Conference on Robotics and Automation (pp.1441-1446). IEEE [10.1109/ROBOT.1995.525480].
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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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