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This paper presents the implementation of supervisory control theory in microcontrollers. To ensure a good implementation problems previously discussed in the literature must be solved in the microcontroller environment. The memory of these devices is limited so the use of local modular supervisors is encouraged as well as the use of strategies for compact(More)
Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation(More)
At present, most of the source code controlling swarm robotic systems is developed in an ad-hoc manner. This can make it difficult to maintain these systems and to guarantee that they will accomplish the desired behaviour. Formal approaches can help to solve these issues. However, they do not usually guarantee that the final source code will match the(More)
This paper presents a new methodology for the implementation of discrete event-based control systems. An algorithm is proposed to transform an automata-based supervisor obtained from the supervisory control theory (SCT) in a Mealy finite state machine. This machine may be simplified in order to have a reduced number of state transitions. The machine(More)
Swarm robotics studies large groups of robots that work together to accomplish common tasks. Much of the used source code is developed in an ad-hoc manner, meaning that the correctness of the controller is not always verifiable. In previous work, supervisory control theory (SCT) and associated design tools have been used to address this problem. Given a(More)
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