Automaton-guided controller synthesis for nonlinear systems with temporal logic

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 sear...

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Bibliographic Details
Main Authors: Wolff, Eric M., Topcu, Ufuk, Murray, Richard M.
Format: Conference Proceeding
Language:English
Subjects:
Abstracts
Aerospace electronics
Automata
Concrete
Nonlinear systems
Planning
Trajectory
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Summary: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.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696978