Theory and algorithms for cooperative planning

1
Technische Universiteit Delft
ICT Delft
Incident Management

• Robust real-time fault-tolerant control
• A real-time reactive control system that is able
• to detect and repair incidents has to deal with
• diagnosis determine the current (normal or
  faulty) state
• repair simple repair actions if faulty states
  are entered
• adaptation adapt the (dynamical) model if one
  of the inputs changes (infrastructure,
  behavioral model or goals)
• autonomy minimize human interaction.

• Approach
• Model-based diagnosis using behavioral
  models,infrastructure and plans delivered by
  some planning system.
• Hierarchical recovery small errors are repaired,
  larger problems are taken care of at a
  hierarchically higher levels.
• Automated translation of plans, infrastructure
  and behavioral models to Timed Finite State
  Machines.

• Applications
• Platooning,
• Freight transport automation (e.g. AGV
  terminal),
• Taxi-cabs.

• Current issues and future work
• Design of a flexible formalism for behaviour
  models,
• Compilation methods for Timed Finite State
  Machines,
• Hierarchical diagnosis.

This research is supported by the Seamless
Multimodal Mobility (SMM) program and carried out
within the TRAIL research school for Transport
Infrastructure and Logistics.
ir. Jonne Zutt Postbus 5031 2600 GA
Delft J.Zutt_at_its.tudelft.nl