Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown

Minimal sets determining universal and phase-covariant quantum cloning

We study the minimal input sets which can determine completely the universal and the phase-covariant quantum cloning machines. We find that the universal quantum cloning machine, which can copy arbitrary input qubit equally well, however can be determined completely by only four input states located at the four vertices of a tetrahedron. The phase-covariant quantum cloning machine, which can copy all qubits located on the equator of the Bloch sphere, can be determined by three equatorial qubits with equal angular distance. These results sharpen further the well-known results that BB84 states and six-states used in quantum cryptography can determine completely the phase-covariant and universal quantum cloning machines. This concludes the study of the power of universal and phase-covariant quantum cloning, i.e., from minimal input sets necessarily to full input sets by definition. This can simplify dramatically the testing of whether the quantum clone machines are successful or not, we only need to check that the minimal input sets can be cloned optimally.Comment: 7 pages, 4 figure

Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown