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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 Ìchi 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. +
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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 | 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 This property is a special property in this wiki.
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15 May 2016 06:15:18 + |
URL This property is a special property in this wiki.
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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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