Positively Constructed Formulas-Based Approach to Mobile Robot Control Using DES

The paper describes the principles of the implementation of supervisors for discrete event systems, designed with the help of automatic theorem proving in the calculus of positively constructed formulas. The main advantage of the proposed approach is the ability to carry out complex evaluations of e...

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Bibliographic Details
Published in:	2021 44th International Convention on Information, Communication and Electronic Technology (MIPRO) pp. 1064 - 1069
Main Authors:	Davydov, Artem, Larionov, Aleksandr, Nagul, Nadezhda
Format:	Conference Proceeding
Language:	English
Published:	Croatian Society MIPRO 27-09-2021
Subjects:	Automata automatic theorem proving Calculus discrete event system Discrete-event systems Modular construction positively constructed formula robot control Supervisory control Switches
Online Access:	Get full text
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Summary:	The paper describes the principles of the implementation of supervisors for discrete event systems, designed with the help of automatic theorem proving in the calculus of positively constructed formulas. The main advantage of the proposed approach is the ability to carry out complex evaluations of events on the base of the current state of the system. Computable predicates are also may be employed, definitions of which are based on the data coming from external sources. As an illustrative example a mobile robot movement in an unknown environment is considered.
ISSN:	2623-8764
DOI:	10.23919/MIPRO52101.2021.9597024