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A Compositional Approach to Stochastic Optimal Control with Cosafe Temporal Logic Specifications 
Abstract 
We introduce an algorithm for the optimal … We introduce an algorithm for the optimal control of stochastic nonlinear systems subject to temporal logic constraints on their behavior. We compute directly on the state space of the system, avoiding the expensive precomputation of a discrete abstraction. An automaton that corresponds to the temporal logic specification guides the computation of a control policy that maximizes the probability that the system satisfies the specification. This reduces controller synthesis to solving a sequence of stochastic constrained reachability problems. Each individual reachability problem is solved via the HamiltonJacobiBellman (HJB) partial differential equation of stochastic optimal control theory. To increase the efficiency of our approach, we exploit a class of systems where the HJB equation is linear due to structural assumptions on the noise. The linearity of the partial differential equation allows us to precompute control policy primitives and then compose them, at essentially zero cost, to conservatively satisfy a complex temporal logic specification. fy a complex temporal logic specification. +


Authors  Matanya B. Horowitz, Eric M. Wolff, Richard M. Murray + 
Funding  CorrectbyConstruction Synthesis of Control Protocols for Aerospace Systems + 
ID  2014f + 
Source  2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) + 
Tag  hwm14iros + 
Title  A Compositional Approach to Stochastic Optimal Control with Cosafe Temporal Logic Specifications + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:14:46 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/hwm14iros.pdf + 
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