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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. +
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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 This property is a special property in this wiki.
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15 May 2016 06:15:25 + |
URL This property is a special property in this wiki.
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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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