10,033 research outputs found
Hybrid automata dicretising agents for formal modelling of robots
Some of the fundamental capabilities required by autonomous vehicles and systems for their intelligent decision making are: modelling of the environment and forming data abstractions for symbolic, logic based reasoning. The paper formulates a discrete agent framework that abstracts and controls a hybrid system that is a composition of hybrid automata modelled continuous individual processes. Theoretical foundations are laid down for a class of general model composition agents (MCAs) with an advanced subclass of rational physical agents (RPAs). We define MCAs as the most basic structures for the description of complex autonomous robotic systems. The RPAās have logic based decision making that is obtained by an extension of the hybrid systems concepts using a set of abstractions. The theory presented helps the creation of robots with reliable performance and safe operation in their environment. The paper emphasizes the abstraction aspects of the overall hybrid system that emerges from parallel composition of sets of RPAs and MCAs
Toward composing variable structure models and their interfaces: a case of intensional coupling definitions
In this thesis, we investigate a combination of traditional component-based and variable structure modeling. The focus is on a structural consistent specification of couplings in modular, hierarchical models with a variable structure. For this, we exploitintensional definitions, as known from logic, and introduce a novel intensional coupling definition, which allows a concise yet expressive specification of complex communication and interaction patterns in static as well as variable structure models, without the need to worryabout structural consistency.In der Arbeit untersuchen wir ein Zusammenbringen von klassischer komponenten-basierter und variabler Strukturmodellierung. Der Fokus liegt dabei auf der Spezifikation von strukturkonsistenten Kopplungen in modular-hierarchischen Modellen mit einer variablen Struktur. DafĆ¼r nutzen wir intensionale Definitionen, wie sie aus der Logik bekannt sind, und fĆ¼hren ein neuartiges Konzept von intensionalen Kopplungen ein, welches kompakte gleichzeitig ausdrucksstarke Spezifikationen von komplexen Kommunikations- und Interaktionsmuster in statischen und variablen Strukturmodellen erlaubt
Theoretical and Practical Advances on Smoothing for Extensive-Form Games
Sparse iterative methods, in particular first-order methods, are known to be
among the most effective in solving large-scale two-player zero-sum
extensive-form games. The convergence rates of these methods depend heavily on
the properties of the distance-generating function that they are based on. We
investigate the acceleration of first-order methods for solving extensive-form
games through better design of the dilated entropy function---a class of
distance-generating functions related to the domains associated with the
extensive-form games. By introducing a new weighting scheme for the dilated
entropy function, we develop the first distance-generating function for the
strategy spaces of sequential games that has no dependence on the branching
factor of the player. This result improves the convergence rate of several
first-order methods by a factor of , where is the branching
factor of the player, and is the depth of the game tree.
Thus far, counterfactual regret minimization methods have been faster in
practice, and more popular, than first-order methods despite their
theoretically inferior convergence rates. Using our new weighting scheme and
practical tuning we show that, for the first time, the excessive gap technique
can be made faster than the fastest counterfactual regret minimization
algorithm, CFR+, in practice
Supervisor Localization of Discrete-Event Systems based on State Tree Structures
Recently we developed supervisor localization, a top-down approach to
distributed control of discrete-event systems in the Ramadge-Wonham supervisory
control framework. Its essence is the decomposition of monolithic (global)
control action into local control strategies for the individual agents. In this
paper, we establish a counterpart supervisor localization theory in the
framework of State Tree Structures, known to be efficient for control design of
very large systems. In the new framework, we introduce the new concepts of
local state tracker, local control function, and state-based local-global
control equivalence. As before, we prove that the collective localized control
behavior is identical to the monolithic optimal (i.e. maximally permissive) and
nonblocking controlled behavior. In addition, we propose a new and more
efficient localization algorithm which exploits BDD computation. Finally we
demonstrate our localization approach on a model for a complex semiconductor
manufacturing system
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