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Optimizationbased Control of Nonlinear Systems with Linear Temporal Logic Specifications 
Abstract 
We present a mathematical programmingbase … We present a mathematical programmingbased method for optimal control of discretetime nonlinear systems subject to temporal logic task specifications. We use linear temporal logic (LTL) to specify a wide range of properties and tasks, such as safety, progress, response, surveillance, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixedinteger linear constraints on the continuous system variables, avoiding the computationally expensive processes of creating a finite abstraction of the system and a Bu Ìchi automaton for the specification. In numerical experiments, we solve temporal logic motion planning tasks for highdimensional (more than 10 continuous states) dynamical systems. n 10 continuous states) dynamical systems. +


Authors  Eric M. Wolff, Ufuk Topcu, and Richard M. Murray + 
Funding  CorrectbyConstruction Synthesis of Control Protocols for Aerospace Systems + 
ID  2013g + 
Source  Submitted, 2014 International Conference on Robotics and Automation (ICRA) + 
Tag  wtm14icra + 
Title  Optimizationbased Control of Nonlinear Systems with Linear Temporal Logic Specifications + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:15:18 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/wtm14icra_s.pdf + 
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