747 research outputs found
Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic
In this paper, we consider the robot motion (or task) planning problem under
some given time bounded high level specifications. We use metric interval
temporal logic (MITL), a member of the temporal logic family, to represent the
task specification and then we provide a constructive way to generate a timed
automaton and methods to look for accepting runs on the automaton to find a
feasible motion (or path) sequence for the robot to complete the task.Comment: Full Version for ECC 201
Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications
In this paper the problem of cooperative task planning of multi-agent systems
when timed constraints are imposed to the system is investigated. We consider
timed constraints given by Metric Interval Temporal Logic (MITL). We propose a
method for automatic control synthesis in a two-stage systematic procedure.
With this method we guarantee that all the agents satisfy their own individual
task specifications as well as that the team satisfies a team global task
specification.Comment: Submitted to American Control Conference 201
Mightyl: A compositional translation from mitl to timed automata
Metric Interval Temporal Logic (MITL) was first proposed in the early 1990s as a specification formalism for real-time systems. Apart from its appealing intuitive syntax, there are also theoretical evidences that make MITL a prime real-time counterpart of Linear Temporal Logic (LTL). Unfortunately, the tool support for MITL verification is still lacking to this day. In this paper, we propose a new construction from MITL to timed automata via very-weak one-clock alternating timed automata. Our construction subsumes the well-known construction from LTL to BĂŒchi automata by Gastin and Oddoux and yet has the additional benefits of being compositional and integrating easily with existing tools. We implement the construction in our new tool MightyL and report on experiments using Uppaal and LTSmin as back-ends
Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
This paper presents a fully automated procedure for controller synthesis for
a general class of multi-agent systems under coupling constraints. Each agent
is modeled with dynamics consisting of two terms: the first one models the
coupling constraints and the other one is an additional bounded control input.
We aim to design these inputs so that each agent meets an individual high-level
specification given as a Metric Interval Temporal Logic (MITL). Furthermore,
the connectivity of the initially connected agents, is required to be
maintained. First, assuming a polyhedral partition of the workspace, a novel
decentralized abstraction that provides controllers for each agent that
guarantee the transition between different regions is designed. The controllers
are the solution of a Robust Optimal Control Problem (ROCP) for each agent.
Second, by utilizing techniques from formal verification, an algorithm that
computes the individual runs which provably satisfy the high-level tasks is
provided. Finally, simulation results conducted in MATLAB environment verify
the performance of the proposed framework
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
Efficient Automata-based Planning and Control under Spatio-Temporal Logic Specifications
The use of spatio-temporal logics in control is motivated by the need to
impose complex spatial and temporal behavior on dynamical systems, and to
control these systems accordingly. Synthesizing correct-by-design control laws
is a challenging task resulting in computationally demanding methods. We
consider efficient automata-based planning for continuous-time systems under
signal interval temporal logic specifications, an expressive fragment of signal
temporal logic. The planning is based on recent results for automata-based
verification of metric interval temporal logic. A timed signal transducer is
obtained accepting all Boolean signals that satisfy a metric interval temporal
logic specification, which is abstracted from the signal interval temporal
logic specification at hand. This transducer is modified to account for the
spatial properties of the signal interval temporal logic specification,
characterizing all real-valued signals that satisfy this specification. Using
logic-based feedback control laws, such as the ones we have presented in
earlier works, we then provide an abstraction of the system that, in a suitable
way, aligns with the modified timed signal transducer. This allows to avoid the
state space explosion that is typically induced by forming a product automaton
between an abstraction of the system and the specification.Comment: 8 pages - Accepted for Publication at ACC 202
Robust Motion Planning employing Signal Temporal Logic
Motion planning classically concerns the problem of accomplishing a goal
configuration while avoiding obstacles. However, the need for more
sophisticated motion planning methodologies, taking temporal aspects into
account, has emerged. To address this issue, temporal logics have recently been
used to formulate such advanced specifications. This paper will consider Signal
Temporal Logic in combination with Model Predictive Control. A robustness
metric, called Discrete Average Space Robustness, is introduced and used to
maximize the satisfaction of specifications which results in a natural
robustness against noise. The comprised optimization problem is convex and
formulated as a Linear Program.Comment: 6 page
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