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AutomatonGuided 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 discretetime 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 samplingbased
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 highdimensional
(10+ states) continuous systems. mensional
(10+ states) continuous systems. +


Authors  Eric M. Wolff, Ufuk Topcu, and Richard M. Murray + 
Funding  CorrectbyConstruction Synthesis of Control Protocols for Aerospace Systems + 
ID  2013c + 
Source  To appear, 2013 International Conference on Intelligent Robots and Systems (IROS) + 
Tag  wtm13iros + 
Title  AutomatonGuided Controller Synthesis for Nonlinear Systems with Temporal Logic + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:15:22 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/wtm13iros.pdf + 
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AutomatonGuided Controller Synthesis for Nonlinear Systems with Temporal Logic +  Title 
