4,056 research outputs found
Time-Constrained Temporal Logic Control of Multi-Affine Systems
In this paper, we consider the problem of controlling a dynamical system such
that its trajectories satisfy a temporal logic property in a given amount of
time. We focus on multi-affine systems and specifications given as
syntactically co-safe linear temporal logic formulas over rectangular regions
in the state space. The proposed algorithm is based on the estimation of time
bounds for facet reachability problems and solving a time optimal reachability
problem on the product between a weighted transition system and an automaton
that enforces the satisfaction of the specification. A random optimization
algorithm is used to iteratively improve the solution
From Uncertainty Data to Robust Policies for Temporal Logic Planning
We consider the problem of synthesizing robust disturbance feedback policies
for systems performing complex tasks. We formulate the tasks as linear temporal
logic specifications and encode them into an optimization framework via
mixed-integer constraints. Both the system dynamics and the specifications are
known but affected by uncertainty. The distribution of the uncertainty is
unknown, however realizations can be obtained. We introduce a data-driven
approach where the constraints are fulfilled for a set of realizations and
provide probabilistic generalization guarantees as a function of the number of
considered realizations. We use separate chance constraints for the
satisfaction of the specification and operational constraints. This allows us
to quantify their violation probabilities independently. We compute disturbance
feedback policies as solutions of mixed-integer linear or quadratic
optimization problems. By using feedback we can exploit information of past
realizations and provide feasibility for a wider range of situations compared
to static input sequences. We demonstrate the proposed method on two robust
motion-planning case studies for autonomous driving
Synthesis for Constrained Nonlinear Systems using Hybridization and Robust Controllers on Simplices
In this paper, we propose an approach to controller synthesis for a class of
constrained nonlinear systems. It is based on the use of a hybridization, that
is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined
on a triangulation of the state-space where on each simplex of the
triangulation, the nonlinear dynamics is conservatively approximated by an
affine system subject to disturbances. Except for the disturbances, this
hybridization can be seen as a piecewise affine hybrid system on simplices for
which appealing control synthesis techniques have been developed in the past
decade. We extend these techniques to handle systems subject to disturbances by
synthesizing and coordinating local robust affine controllers defined on the
simplices of the triangulation. We show that the resulting hybrid controller
can be used to control successfully the original constrained nonlinear system.
Our approach, though conservative, can be fully automated and is
computationally tractable. To show its effectiveness in practical applications,
we apply our method to control a pendulum mounted on a cart
Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications
This paper presents a framework for automatic synthesis of a control sequence
for multi-agent systems governed by continuous linear dynamics under timed
constraints. First, the motion of the agents in the workspace is abstracted
into individual Transition Systems (TS). Second, each agent is assigned with an
individual formula given in Metric Interval Temporal Logic (MITL) and in
parallel, the team of agents is assigned with a collaborative team formula. The
proposed method is based on a correct-by-construction control synthesis method,
and hence guarantees that the resulting closed-loop system will satisfy the
specifications. The specifications considers boolean-valued properties under
real-time. Extended simulations has been performed in order to demonstrate the
efficiency of the proposed controllers.Comment: 8 pages version of the accepted paper to IFAC World Congres
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