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A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications |
Abstract |
We introduce an algorithm for the optimal … We introduce an algorithm for the optimal con- trol of stochastic nonlinear systems subject to temporal logic constraints on their behavior. We directly compute on the state space of the system, avoiding the expensive pre-computation of a discrete abstraction. An automaton that corresponds to the temporal logic specification guides the computation of a control policy that maximizes the probability that the system satisfies the specification. This reduces controller synthesis to solving a sequence of stochastic constrained reachability problems. The solution to each reachability problem corresponds to the solution to a corresponding Hamilton-Jacobi-Bellman (HJB) partial differential equation. To increase the efficiency of our approach, we exploit a class of systems where the HJB equation is linear due to structural assumptions on the noise. The linearity of the PDE allows us to pre-compute control policy primitives and then compose them, at essentially zero cost, to satisfy a complex temporal logic specification. fy a complex temporal logic specification. +
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Authors | Matanya B. Horowitz, Eric M. Wolff, Richard M. Murray + |
Funding | Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems + |
ID | 2013j + |
Source | Submitted, 2014 American Control Conference (ACC) + |
Tag | hwm14-acc + |
Title | A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:15:13 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/hwm14-acc_s + |
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A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications + | Title |
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