A verified hierarchical control architecture for co-ordinated multi-vehicle operations

A verified hierarchical control architecture for co-ordinated multi-vehicle operations

A layered control architecture for executing multi-vehicle team co-ordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on the desired team behaviour. Computer simulat...

A Real-Time Hierarchical Software Architecture for Coordinated Vehicle Control

This paper presents the conception, design, implementation and testing of innovative software architectures and software development processes for rapid prototyping of automated transit buses. Our work is motivated by demonstrations of automated transit bus technology in the context of Bus Rapid Transit (BRT) systems. Mission handling and safety issues are handled via a three-layer hierarchical...

Optimal Co-ordinated Control of Hydropower Plants

River hydropower plants must accomplish several tasks. They have to generate electric energy, guarantee the navigation and reduce the extent of a flood if possible. If there is a cascade of hydropower stations in a river, then it is not possible to solve these tasks with a decentralized control strategy optimally. One is faced with a multiple criteria optimization problem. This contribution pre...

Multi-agent coordination and control system for multi-vehicle agricultural operations

A hierarchical control architecture for sequential behaviours

This paper develops a hierarchical control architecture for so called sequential behaviours, i.e. for plant dynamics and specifications that are represented as formal languages of infinite-length words. Our main result is the elaboration of structural properties that (a) allow for abstraction based controller design and that (b) are preserved under closed-loop composition. Thus, we propose to a...