The Tower of Hanoi puzzle was solved using Supervisory Control Theory, together with the Optimal Nonblocking Directed Control [1]. Also, using kinect, we developed an automatic modelling algorithm and solver for the optimization problem that recalculates if any disturbance is noticed.
[1] Huang, J. & Kumar, R. (2008). Optimal nonblocking directed control of discrete event systems. IEEE Transactions on Automatic Control, 53(7), 1592-1603