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Optimal Control of Non-deterministic 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 non-deterministic 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 doubly-exponential automaton construction. We compute feasible con- trol policies for non-deterministic 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 cost-per-task-cycle 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 cost-per-task-cycle 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 Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems +
ID 2013b  +
Source 2013 Conference on Decison and Control (CDC)  +
Tag wtm13-cdc  +
Title Optimal Control of Non-deterministic Systems for a Computationally Efficient Fragment of Temporal Logic +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:15:25  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wtm13-cdc.pdf  +
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Optimal Control of Non-deterministic Systems for a Computationally Efficient Fragment of Temporal Logic + Title
 

 

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