View source for Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic

{{HTDB paper
| authors = Eric M. Wolff, Ufuk Topcu, and Richard M. Murray
| title = Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic
| source = To appear, 2013 International Conference on Intelligent Robots and Systems (IROS)
| year = 2013
| type = Conference Paper
| funding = Boeing
| url = http://www.cds.caltech.edu/~murray/preprints/wtm13-iros.pdf
| abstract = 
We develop a method for the control of discrete-time nonlinear systems
subject to temporal logic specifications. Our approach uses a coarse
abstraction of the system and an automaton representing the temporal logic
specification to guide the search for a feasible trajectory. This decomposes
the search for a feasible trajectory into a series of constrained
reachability problems. Thus, one can create controllers for any system for
which techniques exist to compute (approximate) solutions to constrained
reachability problems. Representative techniques include sampling-based
methods for motion planning, reachable set computations for linear systems,
and graph search for finite discrete systems. Our approach avoids the
expensive computation of a discrete abstraction, and its implementation is
amenable to parallel computing. We demonstrate our approach with numerical
experiments on temporal logic motion planning problems with high-dimensional
(10+ states) continuous systems.
| flags = 
| tag = wtm13-iros
| id = 2013c
}}