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Optimal Control of Nonlinear Systems with Temporal Logic Specifications 
Abstract 
We present a mathematical programmingbase … We present a mathematical programmingbased method for optimal con trol of nonlinear systems subject to temporal logic task specifications. We specify tasks using a fragment of linear temporal logic (LTL) that allows both finite and infinitehorizon properties to be specified, including tasks such as surveillance, periodic motion, repeated assembly, and environmental monitoring. Our method di rectly encodes an LTL formula as mixedinteger linear constraints on the system variables, avoiding the computationally expensive process of creating a finite ab straction. Our approach is efficient; for common tasks our formulation uses significantly fewer binary variables than related approaches and gives the tightest possible convex relaxation. We apply our method on piecewise affine systems and certain classes of differentially flat systems. In numerical experiments, we solve temporal logic motion planning tasks for highdimensional (10+) continuous systems. highdimensional (10+) continuous systems. +


Authors  Eric M. Wolff and Richard M. Murray + 
Funding  CorrectbyConstruction Synthesis of Control Protocols for Aerospace Systems + 
ID  2013d + 
Source  Submitted, 2013 International Symposium on Robotics Research (ISRR) + 
Tag  wm13isrr + 
Title  Optimal Control of Nonlinear Systems with Temporal Logic Specifications + 
Type  Conference Paper + 
Categories  Papers 
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15 May 2016 06:15:21 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/wm13isrr_s.pdf + 
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Optimal Control of Nonlinear Systems with Temporal Logic Specifications +  Title 
