  In this paper, we solve the complete coordination problem of robotic fiber
positioners using supervisory control theory. In particular, we model
positioners and their behavioral specifications as discrete-event systems by
the discretization of their motion spaces. We synthesize a coordination
supervisor associated with a specific set of positioners. In particular, the
coordination supervisor includes the solutions to the complete coordination
problem of its corresponding positioners. Then, we use the backtracking
forcibility technique of supervisory control theory to present an algorithm
based on a completeness condition to solve the coordination problem similar to
a reconfiguration problem. We illustrate the functionality of our method using
an example.
