'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
In this paper, we propose algorithms for the online
computation of control programs for dynamical systems
that provably satisfy a class of temporal logic specifications.
Such specifications have recently been proposed in the literature
as a powerful tool to synthesize provably correct
control programs, for example for embedded systems and
robotic applications. The proposed algorithms, generalizing
state-of-the-art algorithms for point-to-point motion planning,
incrementally build finite transition systems representing a
discrete subset of dynamically feasible trajectories. At each
iteration, local -calculus model-checking methods are used
to establish whether the current transition system satisfies
the specifications. Efficient sampling strategies are presented,
ensuring the probabilistic completeness of the algorithms. We
demonstrate the effectiveness of the proposed approach on
simulation examples.Michigan/AFRL Collaborative Center on Control Sciences, AFOSR (grant no. FA 8650-07-2-3744