**Supervisory Control for Collision Avoidance in Vehicular Networks
using Discrete Event Abstractions**

**By**

**Professor Stˇphane Lafortune **

**University of Michigan **

**Department of Electrical Engineering and Computer Science **

**Friday, March 23, 2012**

**3:30 – 4:30p.m**

**Rm. 1500 EECS**

**Abstract: **We will start with an
introduction to supervisory control of discrete event systems (DES). We will
discuss relevant system-theoretic properties for DES such as controllability,
nonblockingness, and maximal permissiveness, that arise in the solution of
supervisory control problems. Then we will present on-going research on the
problem of collision avoidance at vehicular intersections for a set of
controlled and uncontrolled vehicles that are linked by wireless communication.
Each vehicle is modeled by a first-order system with bounded model uncertainty.
We construct a finite DES abstraction of the underlying system that preserves
the desired property of safety
(i.e., no collisions). We formulate the problem of collision avoidance
as a supervisory control problem for the DES abstraction. For solving the
resulting supervisory control problem, we develop customized algorithms that
exploit the structure of the transition map to compute the supremal
controllable sublanguage more efficiently than standard algorithms in DES
theory. We present implementation results on an intersection with several
vehicles.

This is joint work with Eric Dallal at Michigan
and Alessandro Colombo and Domitilla Del Vecchio at MIT.

Stˇphane Lafortune has been a professor in the
EECS department since 1986.