Ramadge-Wonham supervisory control of mobile robots: lessons from practice

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.