View source for A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications

{{HTDB paper
| authors = Matanya B. Horowitz, Eric M. Wolff, Richard M. Murray
| title = A Compositional Approach to Stochastic Optimal Control with Temporal Logic Specifications
| source = Submitted, 2014 American Control Conference (ACC)
| year = 2013
| type = Conference Paper
| funding = Boeing
| url = http://www.cds.caltech.edu/~murray/preprints/hwm14-acc_s
| abstract = 
We introduce an algorithm for the optimal con- trol of stochastic nonlinear systems subject to temporal logic constraints on their behavior. We directly compute on the state space of the system, avoiding the expensive pre-computation of a discrete abstraction. An automaton that corresponds to the temporal logic specification guides the computation of a control policy that maximizes the probability that the system satisfies the specification. This reduces controller synthesis to solving a sequence of stochastic constrained reachability problems. The solution to each reachability problem corresponds to the solution to a corresponding Hamilton-Jacobi-Bellman (HJB) partial differential equation. To increase the efficiency of our approach, we exploit a class of systems where the HJB equation is linear due to structural assumptions on the noise. The linearity of the PDE allows us to pre-compute control policy primitives and then compose them, at essentially zero cost, to satisfy a complex temporal logic specification.
| flags = 
| filetype = PDF
| tag = hwm14-acc
| id = 2013j
}}