Proceedings of 35th IEEE Conference on: 
Decision and Control,
Dec. 1996, Kobe, Japan,
IEEE Press


Title:
Optimal Finite State Supervisory Control

Author:
Enrico Tronci
Univ. di L'Aquila
tronci@univaq.it
http://univaq.it/~tronci



Abstract

Using Boolean First Order Logic (BFOL) programs 
(i.e. systems of boolean functional equations)
and Binary Decision Diagrams (BDDs)
we give a symbolic (i.e. BDD based) algorithm
for automatic synthesis of 
Optimal Finite State Supervisory Controllers (OSCs).

Our OSC synthesis algorithm can handle
arbitrary sets of final states
as well as 
plant transition relations 
containing loops and uncontrollable events 
(e.g. failures).

We report on experimental results 
on the use of our OSC synthesis algorithm
to synthesize a C program implementing 
a minimum fuel OSC for two autonomous vehicles 
moving on a 4x4 grid.



Keywords: Optimal Finite State Supervisory Control,
Supervisory Control.