Supervisory control for collision avoidance in vehicular networks using discrete event abstractions
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 discre...
| Principais autores: | , , , |
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| Formato: | Artigo |
| Idioma: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Acesso em linha: | http://hdl.handle.net/1721.1/97405 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826212166188924928 |
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| author | Dallal, Eric Colombo, Alessandro Del Vecchio, Domitilla Lafortune, Stephane |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Dallal, Eric Colombo, Alessandro Del Vecchio, Domitilla Lafortune, Stephane |
| author_sort | Dallal, Eric |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T15:17:24Z |
| format | Article |
| id | mit-1721.1/97405 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:17:24Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/974052022-09-29T13:54:28Z Supervisory control for collision avoidance in vehicular networks using discrete event abstractions Dallal, Eric Colombo, Alessandro Del Vecchio, Domitilla Lafortune, Stephane Massachusetts Institute of Technology. Department of Mechanical Engineering Del Vecchio, Domitilla 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. National Science Foundation (U.S.) (Grant CNS-0930081) 2015-06-15T13:19:08Z 2015-06-15T13:19:08Z 2013-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-0178-4 978-1-4799-0177-7 978-1-4799-0175-3 0743-1619 http://hdl.handle.net/1721.1/97405 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). https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/ACC.2013.6580514 Proceedings of the 2013 American Control Conference Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Dallal, Eric Colombo, Alessandro Del Vecchio, Domitilla Lafortune, Stephane Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title | Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title_full | Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title_fullStr | Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title_full_unstemmed | Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title_short | Supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| title_sort | supervisory control for collision avoidance in vehicular networks using discrete event abstractions |
| url | http://hdl.handle.net/1721.1/97405 https://orcid.org/0000-0001-6472-8576 |
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