Receding horizon control for temporal logic specifications

HSCC'10 - Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control

Volumn , Issue , 2010, Pages 101-110

  Wongpiromsarn, Tichakorn ^a   Topcu, Ufuk ^a   Murray, Richard M ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Embedded control software; Linear temporal logic; Receding horizon control

Indexed keywords

ACTUAL SYSTEM; CONTINUOUS CONTROLLER; EMBEDDED CONTROL SOFTWARE; INITIAL STATE; LINEAR TEMPORAL LOGIC; LINEAR TEMPORAL LOGIC SPECIFICATIONS; RECEDING HORIZON CONTROL; RECEDING-HORIZON FRAMEWORKS; RESPONSE MECHANISMS; SYSTEM LEVELS; TEMPORAL LOGIC SPECIFICATIONS; TEMPORAL PROPERTY; TRAJECTORY GENERATION;

CONTROL THEORY; ELECTRIC GROUNDING; EMBEDDED SOFTWARE; HYBRID COMPUTERS; HYBRID SYSTEMS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; SPECIFICATIONS; TEMPORAL LOGIC; TRAJECTORIES;

CONTROLLERS;

EID: 77953068776     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/1755952.1755968     Document Type: Conference Paper

References (22)

1. DARPA Urban Challenge. http://www.darpa.mil/grandchallenge/index.asp, 2007.
2. D. Conner, H. Kress-Gazit, H. Choset, A. Rizzi, and G. Pappas. Valet parking without a valet. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 572-577, 2007.
3. E. A. Emerson. Temporal and modal logic. In Handbook of theoretical computer science (vol. B): formal models and semantics, pages 995-1072. MIT Press, Cambridge, MA, USA, 1990.
4. A. Girard, A. A. Julius, and G. J. Pappas. Approximate simulation relations for hybrid systems. Discrete Event Dynamic Systems, 18(2):163-179, 2008.
5. A. Girard and G. J. Pappas. Brief paper: Hierarchical control system design using approximate simulation. Automatica, 45(2):566-571, 2009.
6. G. C. Goodwin, M. M. Seron, and J. A. D. Doná. Constrained Control and Estimation: An Optimisation Approach. Springer, 2004.
7. M. Huth and M. Ryan. Logic in Computer Science: Modelling and Reasoning about Systems. Cambridge University Press, 2nd edition, 2004.
8. A. Jadbabaie. Nonlinear Receding Horizon Control: A Control Lyapunov Function Approach. PhD thesis, California Institute of Technology, 2000.
9. S. Karaman and E. Frazzoli. Sampling-based motion planning with deterministic μ-calculus specifications. In Proc. of IEEE Conference on Decision and Control, Dec. 2009.
10. M. Kloetzer and C. Belta. A fully automated framework for control of linear systems from temporal logic specifications. IEEE Transaction on Automatic Control, 53(1):287-297, 2008.
11. H. Kress-Gazit, G. Fainekos, and G. Pappas. Where's waldo? Sensor-based temporal logic motion planning. In Proc. of IEEE International Conference on Robotics and Automation, pages 3116-3121, April 2007.
12. H. Kress-Gazit and G. J. Pappas. Automatically synthesizing a planning and control subsystem for the DARPA Urban Challenge. In IEEE International Conference on Automation Science and Engineering, pages 766-771, 2008.
13. Z. Manna and A. Pnueli. The temporal logic of reactive and concurrent systems. Springer-Verlag, 1992.
14. D. Mayne, J. Rawlings, C. Rao, and P. Scokaert. Constrained model predictive control: Stability and optimality. Automatica, 36:789-814(26), June 2000.
15. M. B. Milam, K. Mushambi, and R. M. Murray. A new computational approach to real-time trajectory generation for constrained mechanical systems. In Proc. of IEEE Conference on Decision and Control, pages 845-851, 2000.
16. R. M. Murray, J. Hauser, A. Jadbabaie, M. B. Milam, N. Petit, W. B. Dunbar, and R. Franz. Online control customization via optimization-based control. In Software-Enabled Control: Information Technology for Dynamical Systems, pages 149-174. Wiley-Interscience, 2002.
17. N. Piterman, A. Pnueli, and Y. Sa'ar. Synthesis of reactive(1) designs. In Verification, Model Checking and Abstract Interpretation, volume 3855 of Lecture Notes in Computer Science, pages 364-380. Springer-Verlag, 2006. Software available at http://jtlv.sourceforge.net/.
18. S. J. Russell and P. Norvig. Artificial Intelligence: A Modern Approach. Pearson Education, 2003.
19. P. Tabuada and G. J. Pappas. Linear time logic control of linear systems. IEEE Transaction on Automatic Control, 51(12):1862-1877, 2006.
20. H. Tanner and G. J. Pappas. Simulation relations for discrete-time linear systems. In Proc. of the IFAC World Congress on Automatic Control, pages 1302-1307, 2002.
21. T. Wongpiromsarn and R. M. Murray. Distributed mission and contingency management for the DARPA urban challenge. In International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008.
22. T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding horizon temporal logic planning for dynamical systems. In Proc. of IEEE Conference on Decision and Control, Dec. 2009.