Bisimulation Based Hierarchical System Architecture for Single-Agent Multi-modal Systems

  • T. John Koo
  • Shankar Sastry
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2289)


In this paper, a hierarchical system architecture for singleagent multi-modal systems is proposed. The layered system is designed to promote proof obligations so that system specification at one level of granularity conforms with that at another level and vice versa. The design principle for the construction of the hierarchy is based on bisimulation with respect to reachability specifications. Therefore, a higher-level system and a lower-level system are bisimilar. Our approach is illustrated by designing a system architecture for controlling an autonomous agent.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    R. Alur and D. Dill. A theory of time automata. Theoretical Computer Science, 126:183–235, 1994.MATHCrossRefMathSciNetGoogle Scholar
  2. 2.
    R. Alur and T.A. Henzinger. Modularity for timed and hybrid systems. In Proceedings of the Eighth International Conference on Concurrency Theory (CONCUR), pages 74–88, 1997.Google Scholar
  3. 3.
    R. Alur, T.A. Henzinger, O. Kupferman, and M.Y. Vardi. Alternating refinement relations. In Proceedings of the Tenth International Conference on Concurrency Theory (CONCUR), pages 163–178, 1998.Google Scholar
  4. 4.
    L. de Alfaro, T.A. Henzinger, and R. Majumdar. Symbolic algorithms for infinitestate games. In Proceedings of the 12th International Conference on Concurrency Theory (CONCUR), 2001.Google Scholar
  5. 5.
    Datta N. Godbole, John Lygeros, and Shankar S. Sastry. Hierarchical hybrid control: an IVHS case study. In Proceedings of the 33th IEEE Conference on Decision and Control, pages 1592–1597, 1994.Google Scholar
  6. 6.
    T.A. Henzinger. Hybrid automaton with finite bisimulstions. In Z. Fülöp and F. Gécseg, editors, ICALP 95: Automata, Languages, and Programming, pages 324–335, Springer-Verlag, 1995.Google Scholar
  7. 7.
    J. P. Hespanha, H. J. Kim, and S. Sastry. Multiple-agent probabilistic pursuitevasion games. In Proceedings of IEEE Conference on Decision and Control, pages 2432–2437, Phoenix, Arizona, December 1999.Google Scholar
  8. 8.
    H. J. Kim, R. Vidal, H. Shim, O. Shakernia, and S. Sastry. A hierarchical approach to probabilistic pursuit-evasion games with unmanned ground and aerial vehicles. In Proceedings of IEEE Conference on Control and Decision, Orlando, Florida, December 2001.Google Scholar
  9. 9.
    T. J. Koo, G. Pappas, and S. Sastry. Mode switching synthesis for reachability specifications. In M. D. Di Benedetto and A. Sangiovanni-Vincentelli, editors, Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Vol. 2034, pages 333–346, Springer Verlag, 2001.CrossRefGoogle Scholar
  10. 10.
    T. J. Koo, B. Sinopoli, A. Sangiovanni-Vincentelli, and S. Sastry. A formal approach to reactive system design: a UAV flight management system design example. In Proceedings of IEEE International symposium on Computer-Aided Control System Design, pages 522–7, Kohala Coast, Hawaii, September 1999.Google Scholar
  11. 11.
    E. A. Lee. Overview of the ptolemy project. Technical Report UCB/ERL M01/11, University of California, Berkeley, 2001.Google Scholar
  12. 12.
    E. A. Lee and A. Sangiovanni-Vincentelli. A Framework for Comparing Models of Computation. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 17(12):1217–1229, December 1998.CrossRefGoogle Scholar
  13. 13.
    J. Lygeros, C. Tomlin, S. Sastry. Controllers for reachability specifications for hybrid systems, Automatica, Volume 35, Number 3, March 1999.Google Scholar
  14. 14.
    N. Megiddo, S. L. Hakimi, M. R. Garey, D.S. Johnson, and C. H. Papadimitriou. The complexity of searching a graph. Journal of the ACM, 35(1):18–44, January 1988.MATHCrossRefMathSciNetGoogle Scholar
  15. 15.
    A. Pant, P. Seiler, T. J. Koo, and J. K. Hedrick. Mesh stability of unmanned aerial vehicle clusters. In Proceedings of American Control Conference, pages 62–68, Arlington, Virginia, June, 2001.Google Scholar
  16. 16.
    T. D. Parsons. Pursuit-evasion in a graph. In Y. Alani and D. R. Lick, editors, Theory and Application of Graphs, pages 426–441, Springer-Verlag, 1976.Google Scholar
  17. 17.
    S. Sastry, G. Meyer, C. Tomlin, J. Lygeros, D. Godbole, and G. Pappas. Hybrid control in air trafic management systems. In Proceedings of the 1995 IEEE Conference in Decision and Control, pages 1478–1483, New Orleans, LA, December 1995.Google Scholar
  18. 18.
    M.P. Singh. Multiagent systems. A theoretical framework for intentions, know-how, and communications. Berlin, Germany: Springer-Verlag, 1994.Google Scholar
  19. 19.
    P. Varaiya. Smart Cars on Smart Roads: Problems of Control, IEEE Transactions on Automatic Control, 38(2):195–207, February 1993.CrossRefMathSciNetGoogle Scholar
  20. 20.
    P. Varaiya. A question about hierarchical systems, System Theory: Modeling, Analysis and Control, T. Djaferis and I. Schick (eds), Kluwer, 2000.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2002

Authors and Affiliations

  • T. John Koo
    • 1
  • Shankar Sastry
    • 1
  1. 1.Department of Electrical Engineering and Computer SciencesUniversity of California at BerkeleyBerkeley

Personalised recommendations