Limited lookahead policies in supervisory control of discrete event systems

Chung, Sheng Luen; Lafortune, Stéphane; Lin, Feng

doi:10.1109/9.182478

Cited by 164 publications

(98 citation statements)

References 25 publications

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“…In its simplest form, this can be achieved by taking the reachable part of synchronous product of the plant and speci…cation, P k S. Then, by ensuring that only strings that can carry the system to the LL horizon remain in L(P k S), we are left with a nonblocking controller. This problem was studied extensively by (Chung et al 1992). …”

Section: Controlmentioning

confidence: 99%

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Hybrid System Control Using an on-Line Discrete Event Supervisory Strategy

Millan

O’Young

2006

IFAC Proceedings Volumes

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Section: Controlmentioning

confidence: 99%

“…Limited lookahead (LL) supervisory control has been extensively studied in a DES setting by (Chung et al 1992). In (Raisch and O'Young 1998), discrete abstractions based on the truncated time history of discrete-time LTI continuous models were used to synthesize DES supervisory controllers.…”

Section: Introductionmentioning

confidence: 99%

Hybrid System Control Using an on-Line Discrete Event Supervisory Strategy

Millan

O’Young

2006

IFAC Proceedings Volumes

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“…The FSM-based scheme provides us with a simple, yet structured, approach to effectively model the race rules/constraints and behaviors/tactics, as opposed to the conventional rule-based approaches or behavior-based approaches (Arkin, 1998). This scheme allows us to leverage existing supervisory control theories and techniques (Cassandras & Lafortune, 1999;Chen & Lin, 2001b;Chung, Lafortune, & Lin, 1992;Ramadge & Wonham, 1987) to generate safe and optimized behaviors for the vehicle.…”

Section: Behavioral Modes and Supervisionmentioning

confidence: 99%

TerraMax™: Team Oshkosh urban robot

Chen

Sundareswaran

Craig

et al. 2008

Journal of Field Robotics

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University, participated in the DARPA Urban Challenge and was one of the 11 teams selected to compete in the final event. Through development, testing, and participation in the official events, we experimented and demonstrated autonomous truck operations in (controlled) urban streets of California, Wisconsin, and Michigan under various climate and traffic conditions. In these experiments TerraMax TM , a modified medium tactical vehicle replacement (MTVR) truck by Oshkosh Corporation, negotiated urban roads, intersections, and parking lots and interacted with manned and unmanned traffic while observing traffic rules. We accumulated valuable experience and lessons on autonomous truck operations in urban environments, particularly in the aspects of vehicle control, perception, mission planning, and autonomous behaviors, which will have an impact on the further development of large-footprint autonomous ground vehicles for the military. • Journal of Field Robotics-2008In this article, we describe the vehicle, the overall system architecture, the sensors and sensor processing, the mission planning system, and the autonomous behavioral controls implemented on TerraMax. We discuss the performance of some notable autonomous behaviors of TerraMax and our experience in implementing these behaviors and present results of the Urban Challenge National Qualification Event tests and the Urban Challenge Final Event. We conclude with a discussion of lessons learned from all of the above experience in working with a large robotic truck. C 2008 Wiley Periodicals, Inc.

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“…26]). If P is not trim, then we c a n obtain trim(P) b y computing its largest accessible and coaccessible component, much i n t h e same way as in the deterministic case 3 . We n o w specify a subset Q b Q of forbidden states that the system is not allowed to visit.…”

Section: Marked Trajectories and Nonblocking Supervisorsmentioning

confidence: 99%