DocumentCode
1865090
Title
Ramadge-Wonham supervisory control of mobile robots: lessons from practice
Author
Liu, Jing ; Darabi, Houshang
Author_Institution
Dept. of Mech. & Ind. Eng., Illinois Univ., Chicago, IL, USA
Volume
1
fYear
2002
fDate
2002
Firstpage
670
Abstract
We used Ramadge-Wonham (RW) theory (1987) of supervisory control to control a system of mobile robots. We discuss our experience in modeling and implementation of the developed control system. We specifically address the control program structure that manages the interaction of the RW controller with its plant. We also present our approach in dealing with practical issues such as forcing events and simultaneous events. The advantages and disadvantages of the RW controller are discussed.
Keywords
mobile robots; multi-robot systems; RW controller; Ramadge-Wonham supervisory control; control program structure; control system implementation; control system modeling; forcing events; mobile robots; simultaneous events; Automata; Automatic control; Automatic generation control; Control system synthesis; Control systems; Feedback; Industrial engineering; Mobile robots; Robot sensing systems; Supervisory control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013435
Filename
1013435
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