  We study supervisor localization for timed discrete-event systems under
partial observation and communication delay in the Brandin-Wonham framework.
First, we employ timed relative observability to synthesize a
partial-observation monolithic supervisor; the control actions of this
supervisor include not only disabling action of prohibitible events (as that of
controllable events in the untimed case) but also "clock-preempting" action of
forcible events. Accordingly we decompose the supervisor into a set of
partial-observation local controllers one for each prohibitible event, as well
as a set of partial-observation local preemptors one for each forcible event.
We prove that these local controllers and preemptors collectively achieve the
same controlled behavior as the partial-observation monolithic supervisor does.
Moreover, we propose channel models for inter-agent event communication and
impose bounded and unbounded delay as temporal specifications. In this
formulation, there exist multiple distinct observable event sets; thus we
employ timed relative coobservability to synthesize partial-observation
decentralized supervisors, and then localize these supervisors into local
controllers and preemptors. The above results are illustrated by a timed
workcell example.
