On-line compositional controller synthesis for AGV

This paper deals with the on-line design of a supervisor to coordinate an automated guided vehicles (AGV) fleet. This supervisor ensures the system safeness (no collision) and a good coordination between vehicles (no blocking situations). It is the least restrictive, and ensures controllability and nonblocking. We propose a compositional procedure to resolve this problem allowing an efficient on-line synthesis. The supervisor has to make a calculation on the fly at every attribution of a new mission for an AGV, so this compositional approach allows us to increase the number of AGV taken on compared to the monolithic approach. We show on some tests the efficiency of this method for the on-line synthesis of supervisor to coordinate a fleet of mobile robots for real cases. Index Terms finite automata, control, Automated Guided Vehicle, supervisory control, online synthesis ∗[email protected] †[email protected] ‡[email protected]