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A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications 
Abstract 
We introduce an algorithm for the optimal … We introduce an algorithm for the optimal con trol of stochastic nonlinear systems subject to temporal logic constraints on their behavior. We directly compute 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. The solution to each reachability problem corresponds to the solution to a corresponding HamiltonJacobiBellman (HJB) partial differential equation. 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 PDE allows us to precompute control policy primitives and then compose them, at essentially zero cost, to 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  2013j + 
Source  Submitted, 2014 American Control Conference (ACC) + 
Tag  hwm14acc + 
Title  A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:15:13 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/hwm14acc_s + 
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