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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.

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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
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2016 Springer International Publishing.
Series Name:Springer Tracts in Advanced Robotics
Issue or Number:114
Record Number:CaltechAUTHORS:20161116-150409481
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72069
Deposited By: Tony Diaz
Deposited On:17 Nov 2016 00:13
Last Modified:03 Oct 2019 16:14

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