Compositional abstraction refinement for control synthesis under lasso-shaped specifications

Meyer, Pierre-Jean; Dimarogonas, Dimos V.

doi:10.23919/acc.2017.7963006

Cited by 7 publications

(16 citation statements)

References 26 publications

(36 reference statements)

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“…In layer 2, if regions of interest π i , π j ∈ Π cannot be connected in P \Obs, the first abstraction layer S Π needs to be updated with the physical constraints: (π i , π j ) / ∈ δ Π and (π j , π i ) / ∈ δ Π . In layer 3, if we fail to synthesize a controller within reasonable refinement iterations, the abstraction refinement algorithm can be combined with the plan revision approach in [15] to look for alternative plans Λ i .…”

Section: B Hierarchical Decomposition Of An Ltl Control Problemmentioning

confidence: 99%

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Meyer

Dimarogonas

2019

IEEE Trans. Automat. Contr.

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This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a topdown hierarchical decomposition of the control problem involving three abstraction layers of the problem, iteratively solved from the coarsest to the finest. The LTL planning is first solved on a small transition system only describing the regions of interest involved in the LTL formula. For each pair of consecutive regions of interest in the resulting accepting path satisfying the LTL formula, a discrete plan is then constructed in the partitioned workspace to connect these two regions while avoiding unsafe regions. Finally, an abstraction refinement approach is applied to synthesize a controller for the dynamical system to follow each discrete plan. The second main contribution, used in the third abstraction layer, is a new monotonicity-based method to overapproximate the finite-time reachable set of any continuously differentiable system. The proposed framework is demonstrated in simulation for a motion planning problem of a mobile robot modeled as a disturbed unicycle.

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Section: B Hierarchical Decomposition Of An Ltl Control Problemmentioning

confidence: 99%

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Meyer

Dimarogonas

2019

IEEE Trans. Automat. Contr.

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“…Meyer et al propose an abstraction refinement algorithm for a fragment of LTL specifications [9], where a nominal single integrator model is used to find a viable plan which is used to refine abstractions locally along the planned path. As the nominal model is not based on the system dynamics, this heuristic may or may not give quick convergence.…”

Section: B Related Workmentioning

confidence: 99%

Lazy Abstraction-Based Control for Safety Specifications

Hsu

Majumdar

Mallik

et al. 2018

2018 IEEE Conference on Decision and Control (CDC)

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We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuoustime nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finitestate abstractions of different coarseness. Our new algorithm improves this technique by computing transitions on-the-fly, and only when a particular region of the state space needs to be explored by the controller synthesis algorithm for a specific coarseness. Additionally, our algorithm improves upon existing techniques by using coarser cells on a larger subset of the state space, which leads to significant computational savings.

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“…Data tes berupa rute perjalanan pengiriman produk diproses menggunakan kedua metode tersebut dan akan didapatkan hasil berupa jarak terdekat, waktu tersingkat dan juga biaya terendah yang harus dikeluarkan saat melakukan perjalanan. Kedua metode tersebut diimplementasikan menjadi sebuah program menggunakan platform microsoft Visual Studio 2017 dan bahasa pemrograman visual basic [6,7]. Metode Held-Karp sangat cocok diterapkan pada kasus pengiriman produk, karena metode Held-Karp dapat menghitung proses dari awal keberangkatan sampai akhir titik tujuan dan metode Held-Karp juga menghitung jarak kembali dari titik akhir ke titik awal [8,9].…”

Section: Pengolahan Dataunclassified

Implementasi dan Perbandingan Metode Iterative Deepening Search dan Held-Karp pada Manajemen Pengiriman Produk

Rahayuda¹,

Santiari²

2018

sisfo

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Good delivery route determination is required to make savings, both in terms of time, mileage and cost. To determine good delivery route, this study implemented the pathfinding method. The program is created in two forms, the first form is using Iterative Deepening Search while the second form is using Karp Held. Sampel data used in this study is addresses of each place that frequently visited in product shipping. In addition, data of mileage, time and cost required on each trip also included. Data tes that used in this study are some addresses or locations that might be visited on product shipping. Data tests are tested on Held-Karp program and also on Iterative Deepening Search. From the experiments, the result show that Held-Karp method can determine better delivery route compared to Iterative Deepening Search. Total difference of Iterative Deepening Search and Held-Karp methods based on distance is 11,35 km, based on time is 27 minutes, and based on cost is 12,051 IDR. Overall, the difference of both methods is 19,66%.Keywords: Held-Karp, Iterative Deepening Search, Visual Basic, Pathfinding, SQL AbstrakPada pesanan dalam jumlah banyak, penentuan rute pengiriman yang baik diperlukan untuk penghematan, baik dari segi waktu, jarak tempuh dan juga biaya. Untuk menentukan rute pengiriman yang baik, pada penelitian akan dilakukan implementasi penentuan jalur terpendek. Program dibuat dalam 2 form, form pertama diimplementasikan menggunakan metode Iterative Deepening Search dan form kedua menggunakan Held-Karp. Data sampel berupa alamat tiap tempat yang sering dikunjungi dalam pengiriman produk dan data tes adalah beberapa alamat yang mungkin akan dikunjungi. Dari ujicoba yang dilakukan didapatkan hasil bahwa metode Held-Karp dapat menentukan rute pengiriman yang lebih baik dibandingkan dengan metode Iterative Deepening Search. Rata-rata selisih dari kedua metode berdasarkan jarak adalah sebesar 11,35 km, berdasarkan waktu sebesar 27 menit, dan berdasarkan biaya sebesar Rp. 12,051. Selisih secara keseluruhan dari kedua metode tersebut adalah sebesar 19,66%.

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Compositional abstraction refinement for control synthesis under lasso-shaped specifications

Cited by 7 publications

References 26 publications

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Lazy Abstraction-Based Control for Safety Specifications

Implementasi dan Perbandingan Metode Iterative Deepening Search dan Held-Karp pada Manajemen Pengiriman Produk

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