Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bruzzone G., Caccia M., Coletta P., Veruggio G. Execution level control and reconfiguration for remotely operated vehicles. In: 15th Triennal World Congress of the International Federation on Automatic Control (Barcelona, Spain, 21-26 July 2002). Proceedings, pp. 1 - 6. IFAC, 2002.
A method to design the control architecture for Remotely Operated Vehicles is presented that is based on the idea to use the Petri net formalism. The "safe" behaviour of the architecture is guaranteed by enforcing some place invariants on the marking of the net. An algorithm to find out feasible sequences of operations to switch between configurations is introduced. Finally, a method to automatically reconfigure the system is shown.
Subject Petri-nets
Control system design
Autonomous mobile robots

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