Transformational Supervisor Localization

Supervisor localization can be applied to distribute a monolithic supervisor into local supervisors. Performing supervisor localization can be computationally costly. In this letter, we consider systems that evolve over time. We study how to reuse the results from a previous supervisor localization, to more efficiently compute local supervisors when the system is adapted. We call this approach transformational supervisor localization, and present algorithms for the procedure. The efficiency of the procedure is experimentally evaluated.