Supervisory control of a class of discrete event processes
SIAM Journal on Control and Optimization
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This paper presents an approach based on supervisory control theory for design of a safety controller in service robot system. As case study we focus on FRIEND system and develop a discrete event controller for safety requirements, related to a part of the whole task to be accomplished by robot. The controller will be implemented in a safety module parallel to the system and by enabling the admissible sequences of events, keep the system safe and working according to the specifications.