2019 Fiscal Year Annual Research Report
Robust and Adaptive Distributed Control of Discrete-Event Systems: A Supervisor Localization Based Approach
| Project/Area Number |
16K18122
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| Research Institution | Osaka City University |
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Principal Investigator |
蔡 凱 大阪市立大学, 大学院工学研究科, 准教授 (20728266)
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| Project Period (FY) |
2016-04-01 – 2020-03-31
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| Keywords | 離散事象システム / 分散制御 / オートマトン |
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| Outline of Annual Research Achievements |
In the fourth year, the following new results have been achieved.
1. Theoretical results: We developed supervisor localization based distributed control for multi-agent discrete-event systems with both partial observation and communication delay. Further, we developed a scalable supervisory control method whose computational complexity is independent of the number of component agents.
2. Experiment results: We developed a cyber-physical control framework that achieves safe, deadlock-free, efficient, and adaptive behavior of multiple robots serving the goods-to-man logistic operations in warehouses. Further we successfully tested the cyber-physical control strategies on the experiment system with multiple mobile robots we developed in the first three years.
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