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Optimal Control of Mixed Logical Dynamical Systems with Long-Term Temporal Logic Specifications

Wolff, Eric M. and Murray, Richard M. (2013) Optimal Control of Mixed Logical Dynamical Systems with Long-Term Temporal Logic Specifications. California Institute of Technology , Pasadena, CA. (Unpublished)

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We present a mathematical programming-based method for control of large a class of nonlinear systems subject to temporal logic task specifications. We consider Mixed Logical Dynamical (MLD) systems, which include linear hybrid automata, constrained linear systems, and piecewise affine systems. We specify tasks using a fragment of linear temporal logic (LTL) that allows both finite- and infinite-horizon properties to be specified, including tasks such as surveillance, periodic walking, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixed-integer linear constraints on the MLD system, instead of computing a finite abstraction. This approach is efficient; for common tasks the formulation may use significantly fewer binary variables than related approaches. In simulation, we solve non-trivial temporal logic motion planning tasks for high-dimensional continuous systems using our approach.

Item Type:Report or Paper (Technical Report)
Murray, Richard M.0000-0002-5785-7481
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Additional Information:This work was supported by a NDSEG Fellowship and the Boeing Corporation.
Group:Control and Dynamical Systems Technical Reports
Funding AgencyGrant Number
Boeing CorporationUNSPECIFIED
Subject Keywords:Motion planning, linear temporal logic, optimal control.
Record Number:CaltechCDSTR:2013.001
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:39063
Deposited By: Eric Wolff
Deposited On:25 Jun 2013 22:16
Last Modified:03 Oct 2019 05:03

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