Nadzoru: A Software Tool for Supervisory Control of Discrete Event Systems

Pinheiro, Lucas Preischadt; Lopes, Yuri Kaszubowski; Leal, André B.; Rosso, Roberto

doi:10.1016/j.ifacol.2015.06.491

Cited by 13 publications

(5 citation statements)

References 8 publications

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“…The controller is generated by considering synchronous composition between system descriptions and specification generators. This work is implemented using the open source software Nadzoru [PLLJ15].…”

Section: Supporting the Design Of Robotic Applicationsmentioning

confidence: 99%

PuRSUE -from specification of robotic environments to synthesis of controllers

et al. 2020

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Developing robotic applications is a complex task, which requires skills that are usually only possessed by highly-qualified robotic developers. While formal methods that help developers in the creation and design of robotic applications exist, they must be explicitly customized to be impactful in the robotics domain and to support effectively the growth of the robotic market. Specifically, the robotic market is asking for techniques that: (i) enable a systematic and rigorous design of robotic applications though high-level languages; and (ii) enable the automatic synthesis of low-level controllers, which allow robots to achieve their missions. To address these problems we present the PuRSUE (Planner for RobotS in Uncontrollable Environments) approach, which aims to support developers in the rigorous and systematic design of high-level run-time control strategies for robotic applications. The approach includes PuRSUE-ML a high-level language that allows for modeling the environment, the agents deployed therein, and their missions. PuRSUE is able to check automatically whether a controller that allows robots to achieve their missions might exist and, then, it synthesizes a controller. We evaluated how PuRSUE helps designers in modeling robotic applications, the effectiveness of its automatic computation of controllers, and how the approach supports the deployment of controllers on actual robots. The evaluation is based on 13 scenarios derived from 3 different robotic applications presented in the literature. The results show that: (i) PuRSUE-ML is effective in supporting designers in the formal modeling of robotic applications compared to a direct encoding of robotic applications in low-level modeling formalisms; (ii) PuRSUE enables the automatic generation of controllers that are difficult to create manually; and (iii) the plans generated with PuRSUE are indeed effective when deployed on actual robots.

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Section: Supporting the Design Of Robotic Applicationsmentioning

confidence: 99%

PuRSUE -from specification of robotic environments to synthesis of controllers

et al. 2020

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“…We extended the open source software tool Nadzoru [18], [19] to support public events in the modelling of free behaviour models and specifications. Using the graphical interface, the user can flag an event as public.…”

Section: Methodsmentioning

confidence: 99%

Supervisory Control of Robot Swarms Using Public Events

Lopes

Trenkwalder

Leal

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…Examples of implementation and application of SCT include warehouse automation [Tatsumoto et al(2018) Pinheiro, Lopes, Leal, andJunior, Rahmani et al(2018)Rahmani, Donyanavard, Mück, Moazzemi, Jantsch, Mutlu, Hill andLafortune(2017), Malik et al(2017)Malik, Åkesson, Flordal, and Fabian].…”

Section: Related Workmentioning

confidence: 99%

A Hybrid Systems-based Hierarchical Control Architecture for Heterogeneous Field Robot Teams

Ju¹,

Son²

2020

Preprint

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Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in managing large-scale complex dynamic systems. Therefore, the supervisory control theory based on discrete event system needs to be introduced to overcome this limitation. In this study, we propose a hybrid systems-based hierarchical control architecture through a supervisory control-based high-level controller and a traditional control-based low-level controller. The hybrid systems and its dynamics are modeled through a formal method called hybrid automata, and the behavior specifications expressing the control objectives for cooperation are designed. Additionally, a modular supervisor that is more scalable and maintainable than a centralized supervisory controller was synthesized. The proposed hybrid systems and hierarchical control architecture were implemented, validated, and then evaluated for performance through the physics-based simulator. Experimental results confirmed that the heterogeneous field robot team satisfied the given specifications and presented systematic results, validating the efficiency of the proposed control architecture.

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Nadzoru: A Software Tool for Supervisory Control of Discrete Event Systems

Cited by 13 publications

References 8 publications

PuRSUE -from specification of robotic environments to synthesis of controllers

PuRSUE -from specification of robotic environments to synthesis of controllers

Supervisory Control of Robot Swarms Using Public Events

A Hybrid Systems-based Hierarchical Control Architecture for Heterogeneous Field Robot Teams

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