Synthesis of Control Protocols for Autonomous Systems

Author:

Wongpiromsarn Tichakorn1,Topcu Ufuk2,Murray Richard M.3

Affiliation:

1. Ministry of Science and Technology, Bangkok, Thailand

2. University of Pennsylvania, Philadelphia, PA, USA

3. California Institute of Technology, Pasadena, CA, USA

Abstract

This article provides a review of control protocol synthesis techniques that incorporate methodologies from formal methods and control theory to provide correctness guarantee for different types of autonomous systems, including those with discrete and continuous state space. The correctness of the system is defined with respect to a given specification expressed as a formula in linear temporal logic to precisely describe the desired properties of the system. The formalism presented in this article admits nondeterminism, allowing uncertainties in the system to be captured. A particular emphasis is on alleviating some of the difficulties, e.g., heterogeneity in the underlying dynamics and computational complexity, that naturally arise in the construction of control protocols for autonomous systems.

Publisher

World Scientific Pub Co Pte Lt

Subject

Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

Reference26 articles.

1. E. A. Emerson, Handbook of Theoretical Computer Science (Vol. B): Formal Models and Semantics (1990) pp. 995–1072.

2. The Temporal Logic of Reactive and Concurrent Systems

3. Synthesis of Reactive(1) Designs

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