In this paper, the supervisory control of a Discrete Event System (DES) analyses states and events to construct an autonomous package delivery system. The delivery system includes a legged robot in order to autonomously navigate uneven indoor terrain and a conveyor belt for transporting the package to the legged robot.The aim of the paper is using the theory of supervisory control of DES to supervise and control machine's state and event and ensure robots autonomously collaborate. By applying the theory, we show the collaboration of two individual robots to deliver goods in a multi-floor environment. The obtained results from the theory of supervisory control are implemented and verified in a simulation environment.
翻译：在本文中,一个分解事件系统的监督控制分析用于建立自动包件运载系统的状态和事件,运载系统包括一个腿式机器人,以便自主导航不均匀的室内地形,以及将包件运送到断链式机器人的传送带。该文件的目的是利用DES的监督控制理论来监督和控制机器的状态和事件,并确保机器人的自主协作。通过应用这一理论,我们展示了两个个体机器人在多层环境中交付货物的协作。从监督控制理论中获得的结果在模拟环境中得到实施和核实。
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