Synthesis and implementation of local modular supervisory control for a manufacturing cell

Queiroz, Max Hering de; Cury, J.E.R.

doi:10.1109/wodes.2002.1167714

Cited by 87 publications

(95 citation statements)

References 10 publications

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“…It is used to synthesise a controller based on formal descriptions of the system and specifications. Studies have illustrated how code for manufacturing coordination control can be automatically generated using SCT (Liu and Darabi 2002;Queiroz and Cury 2002;Lopes et al 2012). SCT is also applied to design controllers for systems of multiple robots (GordonSpears and Kiriakidis 2004; Tsalatsanis et al 2009Tsalatsanis et al , 2012, solving tasks such as object delivery and patrolling/inspection.…”

Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

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Supervisory control theory applied to swarm robotics

et al. 2016

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Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system's control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots Intell (2016) 10:65-97 are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

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Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

“…The operational procedures are a low-level interface of the controller to the hardware (Queiroz and Cury 2002). Operational procedures were originally designed for manufacturing environments.…”

Section: Operational Proceduresmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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“…In the field of SCT, the benefit of modularity in avoiding the state space explosion generated by the synthesis algorithms has been widely demonstrated (De Queiroz & Cury 2002, Vahidi et al 2006, Endsley et al 2006. Several extensions of the original framework have been proposed, such as:…”

Section: Control Synthesismentioning

confidence: 99%

“…Modularity criteria are not only driven by state-space explosion issues (De Queiroz & Cury 2002), but must be justified by the structure of the physical process itself (Gouyon et al 2004).…”

Section: Resource Supervisor Synthesismentioning

confidence: 99%

Supervisory synthesis for product-driven automation and its application to a flexible assembly cell

Pétin¹,

Gouyon²,

Morel³

2007

Control Engineering Practice

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“…Within this context, the current paper presents a control typology focused on the cost, having as theoretical grounds the SCT and the Local Modular Control (LMC) proposed by Queiroz and Cury (2000a,b), and the implementation is performed in micro-controllers and in low cost commercial electronic devices. The proposed control structure is based on previous works, which used PLC as platform for the control system realization (Queiroz and Cury, 2002).…”

Section: Introductionmentioning

confidence: 99%

Cost Based Implementation of Modular Supervisory Control Theory

Costa

Santos

Busetti

2005

IFAC Proceedings Volumes

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This paper presents a proposal for the implementation of the local modular supervisory control theory focused on the cost. From the approach based on the controllable languages, the paper explores the accomplishment of the theoretical model in low cost platforms, based on small-sized PLCs, micro-controllers and commercial electronic devices. A control structure is, then, proposed as the adequate solution for small and medium size manufacturing automated systems. In order to demonstrate the efficiency of the proposal, a didactic workbench is used to simulate the current manufacturing system.

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Synthesis and implementation of local modular supervisory control for a manufacturing cell

Cited by 87 publications

References 10 publications

Supervisory control theory applied to swarm robotics

Supervisory control theory applied to swarm robotics

Supervisory synthesis for product-driven automation and its application to a flexible assembly cell

Cost Based Implementation of Modular Supervisory Control Theory

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