1. Supervisory Control Architectures
Embedded Systems
Supervisory Control Architectures

2. Subsumption

3. Finite State Supervisors
Hopping Machines – Dynamics and Control
MIT Leg Lab –
Marc Raibert (circa 1995)

4. Dynamics, Decision, and Control
MIT Leg Lab –
Marc Raibert, Gill Pratt

5. Communication and Coordinated Action
Moore-Penrose (null space) operator to mediate control interactions
if robot j is seeking an external goal:
“push” relation f j g
g(i)
world
robot j f
LOS(j)
robot i
“pull” relation f j i g
g(j)

6. Finite State Supervisors and Concurrent Control
Attack/Repel
Oecophylla longinoda
(African weaver ant)
p = [nest food alert bite] f
alert
bite
food
RND
nest
1XXX
X111
2-Butyl-2-octenal
(bite)
3-Undecanone
(attract/bite)
1-Hexanol
(attract)
Hexanal
(alert)
1 cm
swarm simulation
small:~grupen/C/ants/x

7. Example: ROTATE schema

8. Integrated Behavior Twist control (R3) with two choices for the
“effector”
ROTATE schema
STEP schema
4 states,
2 actions

9. Extension to Irregular Terrain

10. Bimanual Motor Sequencesf g f g K f g T
1. Nearby controllers in the tree have similar characteristics
2. Harken back to cutkosky diagram f g g’ f g’