Abstract
A discrete event systems (DES) based approach is an efficient method to control complex dynamic systems. This paper describes a DES which uses supervisory control theory to control multiple. Agricultural unmanned aerial vehicles (UAVs). Finite state automata (FSA) are used as a modeling tool to design a supervisor to coordinate the behavior of multiple UAVs. In this paper, DES models for obstacle avoidance, path following, formation control, and task control are modeled by the FSA and controlled by the supervisor. The proposed supervisors are implemented. Their controllability, nonblocking, and non-conflicting behaviors are verified through simulation. The use of the DES formalism reflects a modular controllable system with the potential for reusability and scalability.
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