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Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic |
Abstract |
We develop a method for the control of dis … We develop a method for the control of discrete-time nonlinear systems
subject to temporal logic specifications. Our approach uses a coarse
abstraction of the system and an automaton representing the temporal logic
specification to guide the search for a feasible trajectory. This decomposes
the search for a feasible trajectory into a series of constrained
reachability problems. Thus, one can create controllers for any system for
which techniques exist to compute (approximate) solutions to constrained
reachability problems. Representative techniques include sampling-based
methods for motion planning, reachable set computations for linear systems,
and graph search for finite discrete systems. Our approach avoids the
expensive computation of a discrete abstraction, and its implementation is
amenable to parallel computing. We demonstrate our approach with numerical
experiments on temporal logic motion planning problems with high-dimensional
(10+ states) continuous systems. mensional
(10+ states) continuous systems. +
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Authors | Eric M. Wolff, Ufuk Topcu, and Richard M. Murray + |
Funding | Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems + |
ID | 2013c + |
Source | To appear, 2013 International Conference on Intelligent Robots and Systems (IROS) + |
Tag | wtm13-iros + |
Title | Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:15:22 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/wtm13-iros.pdf + |
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Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic + | Title |
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