CaltechAUTHORS
  A Caltech Library Service

Optimal Control of Nonlinear Systems with Temporal Logic Specifications

Wolff, Eric M. and Murray, Richard M. (2016) Optimal Control of Nonlinear Systems with Temporal Logic Specifications. In: Robotics Research. Springer Tracts in Advanced Robotics. No.114. Springer , Cham, pp. 21-37. ISBN 978-3-319-28870-3. http://resolver.caltech.edu/CaltechAUTHORS:20161116-150409481

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20161116-150409481

Abstract

We present a mathematical programming-based method for optimal control of nonlinear systems subject to temporal logic task specifications. 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 motion, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixed-integer linear constraints on the system variables, avoiding the computationally expensive process of creating a finite abstraction. Our approach is efficient; for common tasks our formulation uses significantly fewer binary variables than related approaches and gives the tightest possible convex relaxation. We apply our method on piecewise affine systems and certain classes of differentially flat systems. In numerical experiments, we solve temporal logic motion planning tasks for high-dimensional (10+ + continuous state) systems.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1007/978-3-319-28872-7_2DOIArticle
http://link.springer.com/chapter/10.1007%2F978-3-319-28872-7_2PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2016 Springer International Publishing.
Record Number:CaltechAUTHORS:20161116-150409481
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161116-150409481
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72069
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:17 Nov 2016 00:13
Last Modified:17 Nov 2016 00:13

Repository Staff Only: item control page