System for combining plurality of input control policies to provide a compositional output control policy

摘要

Method and apparatus for combining a plurality of overlapping policy-based controllers. System also applicable to policy-based process servers. System combines controllers by combining the respective policy information. System combines a plurality of policy-based sub-controllers by combining the associated distributional information contained in the associated sub-policies. An iterative mixture mechanism with temporal persistence regulates the relative contribution of the sub-policies smoothly over time thereby allowing smooth transition of control from one control regime to another. The system provides for modular detection and resolution of conflicts that may arise as a result of combining otherwise incompatible sub-policies. Preferred embodiment performs mixture method in policy space. Another embodiment applies mixture method to value functions associated with each sub-server.