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Automata theory meets approximate dynamic programming: Optimal control with temporal logic constraints

Papusha, Ivan and Fu, Jie and Topcu, Ufuk and Murray, Richard M. (2016) Automata theory meets approximate dynamic programming: Optimal control with temporal logic constraints. In: 55th Conference on Decision and Control (CDC), 2016. IEEE , Piscataway, NJ, pp. 434-440. ISBN 978-1-5090-1838-3. https://resolver.caltech.edu/CaltechAUTHORS:20170111-134705561

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Abstract

We investigate the synthesis of optimal controllers for continuous-time and continuous-state systems under temporal logic specifications. The specification is expressed as a deterministic, finite automaton (the specification automaton) with transition costs, and the optimal system behavior is captured by a cost function that is integrated over time. We construct a dynamic programming problem over the product of the underlying continuous-time, continuous-state system and the discrete specification automaton. To solve this dynamic program, we propose controller synthesis algorithms based on approximate dynamic programming (ADP) for both linear and nonlinear systems under temporal logic constraints. We argue that ADP allows treating the synthesis problem directly, without forming expensive discrete abstractions. We show that, for linear systems under co-safe temporal logic constraints, the ADP solution reduces to a single semidefinite program.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/CDC.2016.7798307DOIArticle
http://ieeexplore.ieee.org/document/7798307/PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2016 IEEE. Date Added to IEEE Xplore: 29 December 2016. This work was supported in part by a Department of Defense NDSEG Fellowship, the Boeing company, AFRL FA8650-15-C-2546, ONR N000141310778, ARO W911NF-15-1-0592, NSF 1550212, DARPA W911NF-16-1-0001, and ONR N00014-15-IP-00052. The authors wish to acknowledge R. Ehlers for helpful discussions, and the anonymous reviewers for helping improve this paper.
Funders:
Funding AgencyGrant Number
National Defense Science and Engineering Graduate (NDSEG) FellowshipUNSPECIFIED
Boeing CompanyUNSPECIFIED
Air Force Research Laboratory (AFRL)FA8650-15-C-2546
Office of Naval Research (ONR)N000141310778
Army Research Office (ARO)W911NF- 15-1-0592
NSFCNS-1550212
Defense Advanced Research Projects Agency (DARPA)W911NF-16-1-0001
Office of Naval Research (ONR)N00014-15-IP-00052
Record Number:CaltechAUTHORS:20170111-134705561
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170111-134705561
Official Citation:I. Papusha, J. Fu, U. Topcu and R. M. Murray, "Automata theory meets approximate dynamic programming: Optimal control with temporal logic constraints," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, pp. 434-440. doi: 10.1109/CDC.2016.7798307
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73437
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:20 Jan 2017 07:14
Last Modified:03 Oct 2019 16:27

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