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Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic

Wolff, Eric M. and Topcu, Ufuk and Murray, Richard M. (2013) Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 4332-4339. ISBN 978-1-4673-6358-7. https://resolver.caltech.edu/CaltechAUTHORS:20140411-072530586

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Abstract

We develop a method for the control of discrete-time nonlinear systems subject to temporal logic specifications. Our approach uses a coarse abstraction of the system and an automaton representing the temporal logic specification to guide the search for a feasible trajectory. This decomposes the search for a feasible trajectory into a series of constrained reachability problems. Thus, one can create controllers for any system for which techniques exist to compute (approximate) solutions to constrained reachability problems. Representative techniques include sampling-based methods for motion planning, reachable set computations for linear systems, and graph search for finite discrete systems. Our approach avoids the expensive computation of a discrete abstraction, and its implementation is amenable to parallel computing. We demonstrate our approach with numerical experiments on temporal logic motion planning problems with high-dimensional (10+ states) continuous systems.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2013.6696978DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6696978PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2013 IEEE. The authors would like to thank Matanya Horowitz and the anonymous reviewers for their helpful comments. This work was supported by a NDSEG fellowship, the Boeing Corporation, and AFOSR award FA9550-12-1-0302.
Funders:
Funding AgencyGrant Number
NDSEG fellowshipUNSPECIFIED
Boeing CorporationUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)FA9550-12-1-0302
Series Name:IEEE International Conference on Intelligent Robots and Systems
DOI:10.1109/IROS.2013.6696978
Record Number:CaltechAUTHORS:20140411-072530586
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20140411-072530586
Official Citation:Wolff, E.M.; Topcu, U.; Murray, R.M., "Automaton-guided controller synthesis for nonlinear systems with temporal logic," Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on , vol., no., pp.4332,4339, 3-7 Nov. 2013 doi: 10.1109/IROS.2013.6696978
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:44878
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:11 Apr 2014 14:57
Last Modified:10 Nov 2021 16:57

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