An application of LLP supervisory control with Petri net models in mobile robots
K. Kobayashi, Toshimitsu Ushio · 2002
This paper is concerned with high level control of robot systems. We abstract the robot system as a discrete event system and present a high level controller which consists of a limited lookahead policy (LLP) supervisor and a Petri nets model. We show its simple application to a mobile robot system.