Application of supervisor synthesis methods in designing a discrete-event group control system for mobile robots

Application of supervisor synthesis methods in designing a discrete-event group control system for mobile robots

Alexey V. Kozov
Federal State Budgetary Educational Institution of Higher Education «Bauman Moscow State Technical University» (BMSTU), Senior Lecturer, 5/1, 2-ya. Baumanskaya ul., Moscow, 105005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-9997-0386

Maria V. Melnikova
BMSTU, Graduate Student, 5/1, 2-ya. Baumanskaya ul., Moscow, 105005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-7638-503X

Received February 6, 2023

Abstract
This paper discusses the features of methods used to synthesize a discrete-event supervisor for a group control system of mobile robots. We consider the upper levels of a group control system as a discrete-event system. Supervisor synthesis methods for such a system and the evaluation of their computational complexity are presented. The paper highlights the limitations of the best method in terms of computational complexity and proposes a modification that allows to remove these limitations without increasing the computational complexity. The application of the modified method is demonstrated on the example of synthesizing a supervisor for the group action of a firefighting operation by three robots.

Key words
Control system, mobile robot, discrete-event system, supervisory control theory, supervisor, specification, firefighting operation.

DOI
10.31776/RTCJ.11204

Bibliographic description
Kozov, A.V. and Melnikova, M.V. (2023). Application of supervisor synthesis methods in designing a discrete-event group control system for mobile robots. Robotics and Technical Cybernetics, 11(2), pp. 110-117.

UDC identifier:
681.513.3:007.52

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