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Optimization-based Control of Nonlinear Systems with Linear Temporal Logic Specifications
Abstract We present a mathematical programming-base
We present a mathematical programming-based method for optimal control of discrete-time nonlinear systems subject to temporal logic task specifications. We use linear temporal logic (LTL) to specify a wide range of properties and tasks, such as safety, progress, response, surveillance, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixed-integer linear constraints on the continuous system variables, avoiding the computationally expensive processes of creating a finite abstraction of the system and a Bu ̈chi automaton for the specification. In numerical experiments, we solve temporal logic motion planning tasks for high-dimensional (more than 10 continuous states) dynamical systems.
n 10 continuous states) dynamical systems.  +
Authors Eric M. Wolff, Ufuk Topcu, and Richard M. Murray  +
Funding Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems +
ID 2013g  +
Source Submitted, 2014 International Conference on Robotics and Automation (ICRA)  +
Tag wtm14-icra  +
Title Optimization-based Control of Nonlinear Systems with Linear Temporal Logic Specifications +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:15:18  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wtm14-icra_s.pdf  +
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Optimization-based Control of Nonlinear Systems with Linear Temporal Logic Specifications + Title
 

 

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