LLP supervisory control with timed Petri net models in mobile robots
K. Kobayashi, K. Inoue, Toshimitsu Ushio · 2002
This paper deals with the high level control of robot systems. We abstract the robot system as timed Petri net and give a high level controller which consists of a limited lookahead policy (LLP) supervisor. A simple application of the control system to a mobile robot system is given.