Guard extraction for modeling and control of a collaborative assembly station
Paper i proceeding, 2020

A transition system represented by guards and actions can be amended by new guards computed in order to satisfy some specification. If the transition system is the result of composing smaller state machines, guard extraction can be used to put the new guards onto the guards the original state machines. Planning and verification can then be performed directly on the system with additional guards. In this paper we discuss the benefits of applying guard extraction as part of the modeling work in a modular control architecture, where reusable resources are composed using specifications. We show with an example from the development of an industrial demonstrator that even if the specification language is limited to invariant propositions, in practice many common safety specifications can be expressed when combined with a notion of which transitions are allowed to be restricted.

Discrete event systems in manufacturing


Martin Dahl

Chalmers, Elektroteknik, System- och reglerteknik

Kristofer Bengtsson

Chalmers, Elektroteknik, System- och reglerteknik

Martin Fabian

Chalmers, Elektroteknik, System- och reglerteknik

Petter Falkman

Chalmers, Elektroteknik, System- och reglerteknik


24058963 (eISSN)

Vol. 53 4 223-228

15th IFAC Workshop on Discrete Event Systems, WODES 2020
Rio de Janeiro, Brazil,


Inbäddad systemteknik

Datavetenskap (datalogi)




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