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Optimal Control of Nondeterministic Systems for a Computationally Efficient Fragment of Temporal Logic 
Abstract 
We develop a framework for optimal control … We develop a framework for optimal control policy synthesis for nondeterministic transition systems subject to temporal logic specifications. We use a fragment of temporal logic to specify tasks such as safe navigation, response to the environment, persistence, and surveillance. By restricting specifications to this fragment, we avoid a potentially doublyexponential automaton construction. We compute feasible con trol policies for nondeterministic transition systems in time polynomial in the size of the system and specification. We also compute optimal control policies for average, minimax (bottleneck), and average costpertaskcycle cost functions. We highlight several interesting cases when these can be computed in time polynomial in the size of the system and specification. Additionally, we make connections between computing optimal control policies for an average costpertaskcycle cost function and the generalized traveling salesman problem. We give simulation results for motion planning problems. tion results for motion planning problems. +


Authors  Eric M. Wolff, Ufuk Topcu, and Richard M. Murray + 
Funding  CorrectbyConstruction Synthesis of Control Protocols for Aerospace Systems + 
ID  2013b + 
Source  2013 Conference on Decison and Control (CDC) + 
Tag  wtm13cdc + 
Title  Optimal Control of Nondeterministic Systems for a Computationally Efficient Fragment of Temporal Logic + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:15:25 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/wtm13cdc.pdf + 
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Optimal Control of Nondeterministic Systems for a Computationally Efficient Fragment of Temporal Logic +  Title 
