EECI 2020: Computer Session: TuLiP - Revision history

Murray at 18:50, 18 March 2020

2020-03-18T18:50:57Z

← Older revision		Revision as of 18:50, 18 March 2020
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	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_TuLiP-11Mar2020.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_TuLiP-11Mar2020.pdf TuLiP]
	* amination script: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/animate.py animate.py]		* amination script: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/~~tulip_examples~~.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/c2-tulip.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.ipynb robot_simple_discrete.ipynb]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.ipynb robot_simple_discrete.ipynb]
	** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.ipynb robot_simple_continuous.ipynb]		** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.ipynb robot_simple_continuous.ipynb]

Murray: /* Lecture Materials */

2020-03-18T18:47:08Z

Lecture Materials

← Older revision		Revision as of 18:47, 18 March 2020
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	** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.ipynb robot_simple_continuous.ipynb]		** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.ipynb robot_simple_continuous.ipynb]
	** 3x3 exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_3x3.ipynb exercise_3x3.ipynb]		** 3x3 exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_3x3.ipynb exercise_3x3.ipynb]
	** Left turn exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_leftturn.py exercise_leftturn.ipynb]		** Left turn exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_leftturn.ipynb exercise_leftturn.ipynb]

	== Further Reading ==		== Further Reading ==

Murray at 07:34, 13 March 2020

2020-03-13T07:34:25Z

← Older revision		Revision as of 07:34, 13 March 2020
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/~~C2_tulip~~-11Mar2020.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_TuLiP-11Mar2020.pdf TuLiP]
	* amination script: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/animate.py animate.py]		* amination script: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):

Murray: /* Lecture Materials */

2020-03-12T10:07:29Z

Lecture Materials

← Older revision		Revision as of 10:07, 12 March 2020
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_tulip-11Mar2020.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_tulip-11Mar2020.pdf TuLiP]
	* amination script: [~~home~~/~~tichakorn~~/~~Shared~~/eeci/animate.py animate.py]		* amination script: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.ipynb robot_simple_discrete.ipynb]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.ipynb robot_simple_discrete.ipynb]

Murray: /* Lecture Materials */

2020-03-12T09:42:53Z

Lecture Materials

← Older revision		Revision as of 09:42, 12 March 2020
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	* amination script: [home/tichakorn/Shared/eeci/animate.py animate.py]		* amination script: [home/tichakorn/Shared/eeci/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.py robot_simple_discrete.py]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.ipynb robot_simple_discrete.ipynb]
	** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.py robot_simple_continuous.py]		** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.ipynb robot_simple_continuous.ipynb]
	** 3x3 exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_3x3.py exercise_3x3.py]		** 3x3 exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_3x3.ipynb exercise_3x3.ipynb]
	** Left turn exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_leftturn.py exercise_leftturn.py]		** Left turn exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_leftturn.py exercise_leftturn.ipynb]

	== Further Reading ==		== Further Reading ==

Murray: /* Lecture Materials */

2020-03-12T09:28:52Z

Lecture Materials

← Older revision		Revision as of 09:28, 12 March 2020
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-~~sp13~~/C2_tulip-~~21Mar13~~.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/C2_tulip-11Mar2020.pdf TuLiP]
	* amination script: [home/tichakorn/Shared/eeci/animate.py animate.py]		* amination script: [home/tichakorn/Shared/eeci/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-~~sp12~~/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/tulip_examples.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-~~sp12~~/~~robot_discrete_simple~~.py ~~robot_discrete_simple~~.py]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_discrete.py robot_simple_discrete.py]
	** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-~~sp12~~/~~robot_simple~~.py ~~robot_simple~~.py], [http://www.cds.caltech.edu/~murray/courses/eeci-~~sp12~~/~~robot_simple2~~.py ~~robot_simple2~~.py] ~~(alternative formulation)~~		** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/robot_simple_continuous.py robot_simple_continuous.py]
			** 3x3 exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_3x3.py exercise_3x3.py]
			** Left turn exercise: [http://www.cds.caltech.edu/~murray/courses/eeci-sp2020/exercise_leftturn.py exercise_leftturn.py]

	== Further Reading ==		== Further Reading ==

Nok: /* Lecture Materials */

2020-03-09T07:11:45Z

Lecture Materials

← Older revision		Revision as of 07:11, 9 March 2020
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp13/C2_tulip-21Mar13.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp13/C2_tulip-21Mar13.pdf TuLiP]
	* amination script: [/home/tichakorn/Shared/eeci/animate.py animate.py]		* amination script: [home/tichakorn/Shared/eeci/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/tulip_examples.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_discrete_simple.py robot_discrete_simple.py]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_discrete_simple.py robot_discrete_simple.py]

Nok: /* Lecture Materials */

2020-03-09T07:11:29Z

Lecture Materials

← Older revision		Revision as of 07:11, 9 March 2020
Line 7:		Line 7:
	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp13/C2_tulip-21Mar13.pdf TuLiP]		* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp13/C2_tulip-21Mar13.pdf TuLiP]
	* ~~MATLAB plotting~~: [~~http://www.cds.caltech.edu~~/~~~murray/courses/eeci-sp12/plotRobotSim.m plotRobotSim.m], [http://www.cds.caltech.edu~~/~~~murray~~/~~courses~~/eeci~~-sp12~~/~~plotCarSim~~.~~m plotCarSim~~.m]		* amination script: [/home/tichakorn/Shared/eeci/animate.py animate.py]
	* [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/tulip_examples.zip Example TuLiP files] (zip file):		* [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/tulip_examples.zip Example TuLiP files] (zip file):
	** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_discrete_simple.py robot_discrete_simple.py]		** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_discrete_simple.py robot_discrete_simple.py]

Murray at 23:19, 29 February 2020

2020-02-29T23:19:37Z

← Older revision		Revision as of 23:19, 29 February 2020
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	A brief overview of TuLiP will be followed by hands-on exercises using the toolbox.		A brief overview of TuLiP will be followed by hands-on exercises using the toolbox.


	== Lecture Materials ==		== Lecture Materials ==

Murray: Created page with "{{eeci-sp2020 header|prev=Reactive Synthesis|next=Minimum Violation Planning}} This lecture provides an overview of TuLiP, a Python-based software toolbox for the synthesis o..."

2020-02-29T17:05:06Z

Created page with "{{eeci-sp2020 header|prev=Reactive Synthesis|next=Minimum Violation Planning}} This lecture provides an overview of TuLiP, a Python-based software toolbox for the synthesis o..."

New page

{{eeci-sp2020 header|prev=Reactive Synthesis|next=Minimum Violation Planning}}

This lecture provides an overview of TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to a GR[1] specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from GR[1] specifications, and (3) receding horizon planning. The underlying digital design synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the receding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.

A brief overview of TuLiP will be followed by hands-on exercises using the toolbox.

== Lecture Materials ==
* Lecture slides: [http://www.cds.caltech.edu/~murray/courses/eeci-sp13/C2_tulip-21Mar13.pdf TuLiP]
* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/plotRobotSim.m plotRobotSim.m], [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/plotCarSim.m plotCarSim.m]
* [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/tulip_examples.zip Example TuLiP files] (zip file):
** 6 cell robot, discrete state space: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_discrete_simple.py robot_discrete_simple.py]
** 6 cell robot, with dynamics: [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_simple.py robot_simple.py], [http://www.cds.caltech.edu/~murray/courses/eeci-sp12/robot_simple2.py robot_simple2.py] (alternative formulation)

== Further Reading ==

* [http://www.cds.caltech.edu/~murray/papers/2010n_wtoxm11-hscc.html TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning], T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu and R. M. Murray, Hybrid Systems: Computation and Control, 2011. 

== Additional Information ==
* [http://sourceforge.net/apps/mediawiki/tulip-control/index.php?title=Main_Page TuLiP on SourceForge] 
* [http://tulip-control.sourceforge.net/doc/ TuLiP Documentation] and [http://tulip-control.sourceforge.net/doc/install.html Installation instructions] 
* [http://jtlv.ysaar.net/ JTLV Project Home Site] JTLV provides the framework for the underlying digital design synthesis routine used in TuLiP.