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Recently we developed partial-observation supervisor localization, a top-downapproach to distributed control of discrete-event systems (DES) under partialobservation. Its essence is the decomposition of the partial-observationmonolithic supervisor into partial-observation local controllers for individualcontrollable events. In this paper we extend the partial-observation supervisorlocalization to large-scale DES, for which the monolithic supervisor may beincomputable. Specifically, we first employ an efficient heterarchicalsupervisor synthesis procedure to compute a heterarchical array ofpartial-observation decentralized supervisors and partial-observationcoordinators. Then we localize each of these supervisors/coordinators intopartial-observation local controllers. This procedure suggests a systematicapproach to the distributed control of large-scale DES under partialobservation. The results are illustrated by a system of automatic guidedvehicles (AGV) serving a manufacturing workcell.

Supervisor Localization for Large-Scale Discrete-Event Systems under Partial Observation