A supervisory control approach for safe behavior of service robot case study

摘要

This paper presents an approach based on supervisory control theory for design of a safety controller in service robot system. As case study we focus on FRIEND system and develop a discrete event controller for safety requirements, related to a part of the whole task to be accomplished by robot. The controller will be implemented in a safety module parallel to the system and by enabling the admissible sequences of events, keep the system safe and working according to the specifications.