An Efficient Algorithm for Controller Synthesis under Full Observation

Abstract

This paper presents a simple and flexible on-line synthesis algorithm that derives the optimal controller for a given environment. It consists of finding the greatest possible number of admissible event sequences of a discrete-event system with respect to a requirements specification. It generates and explores the state space on-the-fly and uses a control-directed backtracking technique. Compared to a previous algorithm of Wonham and Ramadge, our algorithm does not require explicit storage of the entire work space and backtracks on paths of arbitrary length to prune the search space more efficiently. The paper also discusses an implementation of our algorithm and includes an evaluation of its performance on a variety of problems. 1 Introduction Control problems involve finding an efficient machine that senses and controls an environment through connections and guarantees satisfaction of requirements [9]. These machines have wide applications in areas ranging from robotics and manufact..