EECI 2012: Computer Session: TuLiP
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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 specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from GR 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 slides: TuLiP (Exercises are at the end of the slides.)
- MATLAB plotting: plotRobotSim.m, plotCarSim.m
- Example TuLiP files (zip file):
- 6 cell robot, discrete state space: robot_discrete_simple.py
- 6 cell robot, with dynamics: robot_simple.py, robot_simple2.py (alternative formulation)
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.
JTLV Project Home Site JTLV provides the framework for the underlying digital design synthesis routine used in TuLiP.