Supervisory control for collision avoidance in vehicular networks using discrete event abstractions
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Del Vecchio_Supervisory control.pdf
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Author(s)
Dallal, Eric
Colombo, Alessandro
Del Vecchio, Domitilla
Lafortune, Stephane
Date Issued
June 2013
Journal
Proceedings of the 2013 American Control Conference
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Dallal, Eric, Alessandro Colombo, Domitilla Del Vecchio, and Stephane Lafortune. “Supervisory Control for Collision Avoidance in Vehicular Networks Using Discrete Event Abstractions.” 2013 American Control Conference (June 2013).
Version
Author's final manuscript
Abstract
We consider the problem of collision avoidance at vehicular intersections for a set of controlled and uncontrolled vehicles that are linked by wireless communication. Each vehicle is modeled by a first order system. We use a disturbance to account for bounded model uncertainty. We construct a discrete event system abstraction and formulate the problem in the context of supervisory control for discrete event systems with uncontrollable events. This allows us to mitigate computational limitations related to the presence of continuous dynamics and infinite state spaces. For solving the resulting supervisory control problem at the discrete event level, we develop an algorithm that exploits the structure of the transition map to compute the supremal controllable sublanguage more efficiently than standard algorithms. We present implementation results on an intersection with several vehicles.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/ACC.2013.6580514
