Planning under abstraction within a supervisory control context

Hill, Richard; Lafortune, Stéphane

doi:10.1109/cdc.2016.7798997

Cited by 11 publications

(25 citation statements)

References 16 publications

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“…Hill and Lafortune (2017) develop an approach for generating approximately time optimal supervisory control logic for a cooperative multi-robot system employing hierarchy and decomposition based on the results of Hill and Lafortune (2016). These works do not employ tick automata and do not rely on the identification of idle states.…”

Section: Introductionmentioning

confidence: 99%

“…These works do not employ tick automata and do not rely on the identification of idle states. The work of (Hill and Lafortune 2016) proposes a hierarchical approach based on a new notion, cost equivalence, that aggregates states with common future costs, as shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

“…The work of this paper improves upon (Hill and Lafortune 2016) by developing conditions under which the abstraction can be generated more efficiently. Specifically, this paper is an extended version of the conference paper (Vilela and Hill 2020) where the proposed requirements are relaxed and additional details are provided, including a more developed example.…”

Section: Introductionmentioning

confidence: 99%

“…This class of equivalence is used to generate an abstraction based on the aggregation of states with futures that share the same costs and observed event labels. This new equivalence allows the abstraction to be generated compositionally, rather than first having to synthesize the full global supervisor as done by Hill and Lafortune (2016). The work of Hill and Lafortune (2016) and Vilela and Hill (2020) include as part of their process an approach for artificially reducing the cost of certain transitions to zero.…”

Section: Introductionmentioning

confidence: 99%

“…This new equivalence allows the abstraction to be generated compositionally, rather than first having to synthesize the full global supervisor as done by Hill and Lafortune (2016). The work of Hill and Lafortune (2016) and Vilela and Hill (2020) include as part of their process an approach for artificially reducing the cost of certain transitions to zero. In this work, we Fig.…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical planning in a supervisory control context with compositional abstraction

Vilela

Hill

2021

Discrete Event Dyn Syst

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Hierarchy is a tool that has been applied to improve the scalability of solving planning problems modeled using Supervisory Control Theory. In the work of Hill and Lafortune (2016), the notion of cost equivalence was employed to generate an abstraction of the supervisor that, with additional conditions, guarantees that an optimal plan generated on the abstraction is also optimal when applied to the full supervisor. Their work is able to improve their abstraction by artificially giving transitions zero cost based on the sequentially-dependent ordering of events. Here, we relax the requirement on a specific ordering of the dependent events, while maintaining the optimal relationship between upper and lower levels of the hierarchy. This present paper also extends the authors’ work (Vilela and Hill 2020) where we developed a new notion of equivalence based on cost equivalence and weak bisimulation that we term priced-observation equivalence. This equivalence allows the supervisor abstraction to be generated compositionally. This helps to avoid the explosion of the state space that arises from having to first synthesize the full supervisor before the abstraction can be applied. Here, we also show that models with artificial zero-cost transitions can be created compositionally employing the new relaxed sequential dependence definition. An example cooperative robot control application is used to demonstrate the improvements achieved by the compositional approach to abstraction proposed by this paper.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Hierarchical planning in a supervisory control context with compositional abstraction

Vilela

Hill

2021

Discrete Event Dyn Syst

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Time-optimal control of large-scale systems of systems using compositional optimization

Hagebring

Lennartson

2019

Discrete Event Dyn Syst

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Optimization of industrial processes such as manufacturing cells can have great impact on their performance. Finding optimal solutions to these large-scale systems is, however, a complex problem. They typically include multiple subsystems, and the search space generally grows exponentially with each subsystem. In previous work we proposed Compositional Optimization as a method to solve these type of problems. This integrates optimization with techniques from compositional supervisory control, dividing the optimization into separate sub-problems. The main purpose is to mitigate the state explosion problem, but a bonus is that the individual sub-problems can be solved using parallel computation, making the method even more scalable. This paper further improves on compositional optimization with a novel synchronization method, called partial time-weighted synchronization (PTWS), that is specifically designed for time-optimal control of asynchronous systems. The benefit is its ability to combine the behaviour of asynchronous subsystems without introducing additional states or transitions. The method also reduces the search space further by integrating an optimization heuristic that removes many nonoptimal or redundant solutions already during synchronization. Results in this paper show that compositional optimization efficiently generates global optimal solutions to large-scale realistic optimization problems, too big to solve when based on traditional monolithic models. It is also shown that the introduction of PTWS drastically decreases the total search space of the optimization compared to previous work.

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Optimal supervisory control of discrete event systems for cyclic tasks

Lv,

Xu,

et al. 2024

Automatica

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Planning under abstraction within a supervisory control context

Cited by 11 publications

References 16 publications

Hierarchical planning in a supervisory control context with compositional abstraction

Hierarchical planning in a supervisory control context with compositional abstraction

Time-optimal control of large-scale systems of systems using compositional optimization

Optimal supervisory control of discrete event systems for cyclic tasks

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