Supervisory Coordination of Robotic Fiber Positioners in Multi-Object Spectrographs

In this paper, we solve the complete coordination problem of robotic fiber positioners using supervisory control theory. In particular, we model positioners and their behavioral specifications as discrete-event systems by the discretization of their motion spaces. We synthesize a coordination supervisor associated with a specific set of positioners. In particular, the coordination supervisor includes the solutions to the complete coordination problem of its corresponding positioners. Then, we use the backtracking forcibility technique of supervisory control theory to present an algorithm based on a completeness condition to solve the coordination problem similar to a reconfiguration problem. We illustrate the functionality of our method using an example.


Published in:
The Proceedings of the the 15th IFAC Symposium on Large Scale Systems (LSS): Theory and Applications
Presented at:
The 15th IFAC Symposium on Large Scale Systems (LSS): Theory and Applications, Delft, Netherlands, May 26-28, 2019
Year:
Jul 04 2019
Publisher:
Elsevier
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 Record created 2019-07-04, last modified 2019-08-16

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