Creating Smart Agents:
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1 Creating Smart Agents: A Distributed Control Theory for DES Kai Cai Osaka City University RW30 Workshop at CDC
2 I am interested in multi-agent systems: I am working on both agents with continuous dynamics and agents with discrete-event dynamics 2
3 RW30: control architectural summary Centralized supervisor Agents 3
4 RW30: control architectural summary Decentralized supervisor Decentralized supervisor Agents 4
5 RW30: control architectural summary Hierarchical supervisor High-level plant Agents 5
6 RW30: control architectural summary Heterarchical supervisor High-level decentralized supervisor High-level decentralized supervisor Decentralized supervisor Decentralized supervisor Agents 6
7 RW30: control architectural summary Centralized (monolithic): Decentralized : Hierarchical : Heterarchical:
8 But, are these architectures suitable for controlling multi-agent systems, if individual agents are expected to be autonomous and smart 8
9 Distributed (for smart agents) Interaction graph Local controllers Agents 9
10 10
11 How to design distributed control? Suppose we have: Centralized supervisor Can we decompose the supervisor to get: Interaction graph 11
12 How to decompose? 12
13 13
14 Local controllers are quotient dynamic systems modulo locally unavailable control information. 14
15 Supervisor localization for distributed control synthesis: Given N agents (plant) Given a collective behavior (specification) First, compute the centralized supervisor Then, decompose into a set of local controllers such that 15
16 plant specification localization algorithm local controllers 16
17 Distributed architecture emerges: Interaction graph is part of solution Local controllers Agents 17
18 Example: warehouse automation Kiva Systems No collisions No deadlocks 18
19 19
20 For large-scale systems Hierarchical supervisor Interaction graph Decentralized supervisors Alternative supervisor localization 20
21 RW30: control architectural summary Centralized (monolithic): Decentralized : Hierarchical : Distributed : Heterarchical:
22 Localization for timed DES Standard RW framework: logical specifications RW framework + time: temporal specifications tick event: time delay, hard deadline 22
23 Localization for timed DES Enforcing: temporal specifications logical specifications Centralized supervisor Interaction graph local tick-preemptors local controllers Separation Principle 23
24 Localization for infinite-behavior DES RW framework + time: finite-behavior temporal specifications RW framework + temporal logic: infinite-behavior temporal (liveness) specifications 24
25 Localization for infinite-behavior DES Enforcing: infinite specifications finite specifications Centralized supervisor Interaction graph local live controllers local safe controllers Separation Principle 25
26 Conclusions Supervisor localization as a distributed control theory for discrete-event systems Anything you can do globally, you can do locally Localization theory Controllability Observability Opacity / diagnosability / detectability State-minimization, Bisimulation-minimization 26
27 Localization: limitations and promises Top-down: Global control design Bottom-up: Global verification Local implementation Local control design Convergence: top-down inspired bottom-up 27
28 W R Workshop CDC 14, Los Angels 28
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