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Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis
Abstract Temporal logic based synthesis approaches
Temporal logic based synthesis approaches are often used to find trajectories that are correct-by-construction in systems–eg. synchronization for multi-agent hybrid systems, reactive motion planning for robots. However, the scalability of such approaches is of concern and at times a bottleneck when transitioning from theory to practice. In this paper, we identify a class of problems in the GR(1) fragment of linear-time temporal logic (LTL) where the synthesis problem allows for a decomposition that enables easy parallelization. This decomposition also reduces the alternation depth, resulting in more efficient synthesis. A multi-agent robot gridworld example with coordination tasks is presented to demonstrate the application of the developed ideas and also to perform empirical analysis for benchmarking the decomposition-based synthesis approach.
he decomposition-based synthesis approach.  +
Authors Sumanth Dathathri and Richard M. Murray  +
Funding The TerraSwarm Research Center +
ID 2017b  +
Source 2017 Conference on Decision and Control (CDC)  +
Tag dm17-cdc  +
Title Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis +
Type Conference paper  +
Categories Papers
Modification date
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25 September 2017 03:10:08  +
URL
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http://www.cds.caltech.edu/~murray/preprints/dm17-cdc.pdf  +
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Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis + Title
 

 

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