Discrete Event Systems for autonomous mobile agents

Discrete Event Systems (DES) are a special type of dynamic system. The \state" of these systems change at discrete instants in time and the term "event" represents the occurrence of discontinuous change (at possibly unknown intervals). Diierent Discrete Event Systems models are currently used for speciication, veriication, synthesis as well as for analysis and evaluation of diierent qualitative and quantitative properties of existing physical systems. The focus of this paper is the presentation of the automata and formal language model for DES introduced by Ramadge and Wonham and its application to the domain of mobile manipulator/observer agents. We demonstrate the feasibility of the DES framework for modeling, analysis and synthesis of some visually guided behaviors of agents engaged in navigational tasks and address synchronization issues between diierent components of the system. The use of DES formalism allows us to synthesize complex behaviors in a systematic fashion and guarantee their controllability.