Discrete event models+temporal logic=supervisory controller: automatic synthesis of locomotion controllers

摘要: We address the problem of synthesis controller programs for a variety robotics and manufacturing tasks. The we choose test illustrative purposes is standard "walking machine problem", representative instance real hybrid with both logical/discrete continuous properties strong mutual influence without any reasonable separation. aim to produce "compiler technology" this class problems in manner analogous development so-called "silicon compilers" VLSI technology. To cope difficulties inherent problem, resort novel approach that combines many key ideas from disciplines, namely discrete event supervisory systems, Petri nets approaches temporal logic.