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Relative Coobservability in Decentralized Supervisory Control of Discrete-Event Systems
We study the new concept of relative coobservability in decentralized
supervisory control of discrete-event systems under partial observation. This
extends our previous work on relative observability from a centralized setup to
a decentralized one. A fundamental concept in decentralized supervisory control
is coobservability (and its several variations); this property is not, however,
closed under set union, and hence there generally does not exist the supremal
element. Our proposed relative coobservability, although stronger than
coobservability, is algebraically well-behaved, and the supremal relatively
coobservable sublanguage of a given language exists. We present an algorithm to
compute this supremal sublanguage. Moreover, relative coobservability is weaker
than conormality, which is also closed under set union; unlike conormality,
relative coobservability imposes no constraint on disabling unobservable
controllable events