Recently we developed supervisor localization, a top-down approach to distributed control of discrete-event systems in the Ramadge-Wonham supervisory control framework. Its essence is the decomposition of monolithic (global) control action into local control strategies for the individual agents. In this paper, we establish a counterpart supervisor localization theory in the framework of State Tree Structures, known to be efficient for control design of very large systems. In the new framework, we introduce the new concepts of local state tracker, local control function, and state-based local-global control equivalence. As before, we prove that the collective localized control behavior is identical to the monolithic optimal (i.e. maximally permissive) and nonblocking controlled behavior. In addition, we propose a new and more efficient localization algorithm which exploits BDD computation. Finally we demonstrate our localization approach on a model for a complex semiconductor manufacturing system.
Supervisor Localization of Discrete-Event Systems under Partial Observation
School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；Urban Research Plaza, Osaka City University（大阪市立大学城市研究广场）；Systems Control Group, Department of Electrical and Computer Engineering, University of Toronto（多伦多大学电气与计算机工程系系统控制组）
Supervisor Localization for Large-Scale Discrete-Event Systems under Partial Observation
School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；Department of Electrical and Information Engineering, Osaka City University（大阪市立大学电气信息工程学院）
Supervisor Localization of Discrete-Event Systems with Infinite Behavior
School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；Department of Electrical and Information Engineering, Osaka City University（大阪城市大学电气与信息工程系）
Supervisor Localization of Timed Discrete-Event Systems under Partial Observation and Communication Delay
School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；Department of Electrical and Information Engineering, Osaka City University（大阪城市大学电气与信息工程学院）
Delay-Robustness in Distributed Control of Timed Discrete-Event Systems Based on Supervisor Localization
School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）；Urban Research Plaza, Osaka City University（大阪市立大学城市研究广场）；School of Electrical Engineering, Xi¡¯an Jiaotong University（西安交通大学电气工程学院）；Systems Control Group, Department of Electrical and Computer Engineering, University of Toronto（多伦多大学电气与计算机工程系系统控制组）
This paper proposes a robust design of Hybrid Fuzzy Controller for speed and steering angle control in an Intelligent Autonomous Parking System (IAPS). The Hybrid Fuzzy Controller consists of a Base Fuzzy Controller (BFC) and a Supervisory Fuzzy Decision Tree Controller (SFDTC). The BFC evolves from previous work on fuzzy logic control for unmanned parking and it ensures that optimal parking trajectory is achieved with minimal computational cost. SFDTC further increases the system robustness when there is noise in the operating environment. The design of SFDTC combines Decision Tree theory and…
Behavior Trees in Functional Safety Supervisors for Autonomous Vehicles
Institut de Robòtica i Informàtica Industrial (CSIC-UPC)（机器人与工业信息研究所（西班牙国家研究委员会-加泰罗尼亚理工大学））；Universitat Politècnica de Catalunya-BarcelonaTech（加泰罗尼亚理工大学（巴塞罗那科技学院））；Renault Group（雷诺集团）
本文提出一种基于行为树并符合 ISO 26262 的实时功能安全监督架构，用于在 SAE 3 级自动驾驶车辆中检测危险并确保安全合规。
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest environment. Strategies for mapping, localization, planning, and control are proposed and integrated into a fully autonomous system. The mission starts with a human mapping the area of interest using a custom-made sensor module. Subsequently, a human expert selects the trees for harvesting. The sensor module is then mounted on the machine and used for localization wit…
Learning-based Formal Synthesis of Cooperative Multi-agent Systems
Unmanned Systems Research Institute (DU2SRI), Department of Electrical and Computer Engineering, University of Denver（丹佛大学电气与计算机工程学院无人系统研究所）；Department of Electrical Engineering, University of Notre Dame（圣母大学电气工程系）
Absolute position accuracy is the key performance criterion of an Indoor Localization System (ILS). Since ILS are heterogeneous and complex cyber-physical systems, the localization accuracy depends on various influences from the environment, system configuration, and the application processes. To determine the position accuracy of a system in a reproducible, comparable, and realistic manner, these factors must be taken into account. We propose a strategy for analyzing the influences on the position accuracy of ILS using decision trees in combination with application-related or technology-relat…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and retaining them for further analysis. Typically, orchard growers manually collect sample leaves and utilize them for stem water potential measurements to analyze tree health and determine irrigation routines. While this technique benefits orchard management, the process of collecting, assessing, and interpreting measurements requires significant human labor and o…
The transmission grid is often comprised of several control areas that are connected by multiple tie lines in a mesh structure for reliability. It is also well-known that line failures can propagate non-locally and redundancy can exacerbate cascading. In this paper, we propose an integrated approach to grid reliability that (i) judiciously switches off a small number of tie lines so that the control areas are connected in a tree structure; and (ii) leverages a unified frequency control paradigm to provide congestion management in real time. Even though the proposed topology reduces redundancy,…
