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Automatic Synthesis of Robust Embedded Control Software
Abstract We propose a methodology for automatic syn
We propose a methodology for automatic synthesis of embedded control software that accounts for exogenous disturbances. The resulting system is guaranteed, by construction, to satisfy a given specification expressed in linear temporal logic. The embedded control software consists of three components: a goal generator, a trajectory planner, and a continuous controller. We demonstrate the effectiveness of the proposed technique through an example of an autonomous vehicle navigating an urban environment. This example also illustrates that the system is not only robust with respect to exogenous disturbances but also capable of handling violation of the environment assumptions.
violation of the environment assumptions.  +
Authors Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray  +
ID 2009t  +
Source AAAI Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010 (To appear)  +
Tag wtm10-aaai  +
Title Automatic Synthesis of Robust Embedded Control Software +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:16:24  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wtm10-aaai.pdf  +
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Automatic Synthesis of Robust Embedded Control Software + Title
 

 

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