TCT: A Computation Tool for Supervisory Control Synthesis

Feng, Lei; Wonham, W. M.

doi:10.1109/wodes.2006.382399

Cited by 77 publications

(49 citation statements)

References 4 publications

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“…It guarantees that the supervisors are 'controllable' and 'deadlock-free'. In addition, the supervisors can be subjected to a range of formal analysis tools (Akesson et al 2006;Reiser et al 2006;Rudie 2006;Feng and Wonham 2006).…”

Section: Discussionmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system's control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots Intell (2016) 10:65-97 are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

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Section: Discussionmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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“…For each one of them the models of subsystems and control specifications should be introduced in order to obtain synthesized supervisors, automatically. Among these tools IDES (Rudie, 2006), TCT (Feng & Wonham, 2006) and "Grail for Supervisory Control" (Reiser et al, 2006) can be mentioned.…”

Section: Local Modular Approachmentioning

confidence: 99%

PLC-Based Implementation of Local Modular Supervisory Control for Manufacturing Systems

Leal¹,

Cruz²,

Hounsell³

2012

Manufacturing System

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“…Because of this clock the discrete game abstraction is in reality a timed game and any method used to solve the game needs to be able to handle timed games or it must be possible to represent the effects of the time constraints in some way. This precludes using tools such as TCT and Supremica [21], [22] as they have no way of representing eventuality. Instead UppAal Tiga [23] is chosen as it can analyse properties and synthesise controllers for a quite general class of timed games.…”

Section: Finding Winning Strategiesmentioning

confidence: 99%

Automated fault tolerant control synthesis based on discrete games

Grunnet

Bendtsen

Bak

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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Abstract-This paper focuses on how fault tolerant controllers can be designed based on discrete game abstractions of piecewise-affine hybrid systems (PAHS). The proposed method aims at automatic generation of the controllers by converting the discrete games to timed games, which can be solved by the UppAal toolbox. Winning strategies to the games are then refined to piecewise-affine control strategies which is a type of gain scheduling. The feasibility of the method is shown through the automated design of a fault tolerant controller for a simple example.

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TCT: A Computation Tool for Supervisory Control Synthesis

Abstract: This paper introduces the new features of the TCT software package.

Cited by 77 publications

References 4 publications

Supervisory control theory applied to swarm robotics

Supervisory control theory applied to swarm robotics

PLC-Based Implementation of Local Modular Supervisory Control for Manufacturing Systems

Automated fault tolerant control synthesis based on discrete games

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