Hardware Reference
In-Depth Information
c
3
,
m
5
S
0
S
1
c
1
,
c
4
,
c
7
,
m
6
c
2
,
m
4
Fig. 15.10
Supervisory controller for cat and mouse from Example
15.22
reduced according
to [119]
Mouse
Cat
c
3
m
4
2
0
4
m
1
c
6
c
4
c
1
m
5
m
2
6
c
8
c
2
m
3
m
6
c
5
5
c
0
1
c
7
c
9
3
7
c
10
Fig. 15.11
Maze for cat and mouse from Problem
15.1
These choices allow the maximum flexibility of the cat and mouse, while satisfying
the constraints. In [119] a reduced version of the controller is proposed where the
states are merged as follows:
S
0
=
f
(2,4)
g
:
c
3
D
1
,
m
5
D
1
,
c
1
D
c
2
D
c
4
D
c
5
D
c
6
D
,
m
1
D
m
2
D
m
3
D
m
4
D
m
6
D
S
1
=
f
(0,4),(1,4),(3,4),(2,0),(2,3)
g
:
c
1
D
1
,
c
2
D
1
,
c
4
D
1
,
c
3
D
0
,
c
5
D
0
,
m
2
D
m
3
D
The state reduction is at the expense of restricting some flexibility. The resulting
reduced controller is shown in Fig.
15.10
.
m
1
D
0
,
m
5
D
0
,
m
4
D
1
,
m
6
D
1
,
c
6
D
,
Problems
15.1. (Partially) Worked-out Revisitation of Cat-and-Mouse problem
Consider the variant of the cat and mouse problem shown in Fig.
15.11
from [7]: the
maze has three more rooms, one of which - room 7 - is a dead-end for the cat. The
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