Distributed Synthesis of Control Protocols for Smart Camera Networks

Özay, Necmiye; Topcu, Ufuk; Murray, Richard M.; Wongpiromsarn, Tichakorn

doi:10.1109/iccps.2011.22

Cited by 31 publications

(26 citation statements)

References 22 publications

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“…Automatic synthesis of reactive centralized and distributed controllers of aircraft electric power systems is described in detail in [2]. The particular distributed synthesis method adopted in this study is introduced in [3] and [4].…”

Section: Introductionmentioning

confidence: 99%

An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols

Rogersten¹,

Xu²,

Özay³

et al. 2013

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Modern aircraft increasingly rely on electric power for subsystems that have traditionally run on mechanical power. The complexity and safety-criticality of aircraft electric power systems have therefore increased, rendering the design of these systems more challenging. This work is motivated by the potential that correct-by-construction reactive controller synthesis tools may have in increasing the effectiveness of the electric power system design cycle. In particular, we have built an experimental hardware platform that captures some key elements of aircraft electric power systems within a simplified setting. We intend to use this platform for validating the applicability of theoretical advances in correct-by-construction control synthesis and for studying implementation-related challenges. We demonstrate a simple design workflow from formal specifications to auto-generated code that can run on software models and be used in hardware implementation. We show some preliminary results with different control architectures on the developed hardware testbed.

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Section: Introductionmentioning

confidence: 99%

An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols

Rogersten¹,

Xu²,

Özay³

et al. 2013

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“…The approach in [14], however, is limited to the case where the global specification is traced-closed whereas the approach in [15] requires manual decomposition of the global specification and can be conservative. In addition, distributed synthesis is not suitable for problems that involve a large number of environment agents over which the system does not have control.…”

Section: Introductionmentioning

confidence: 99%

“…To alleviate the state explosion problem, distributed synthesis where a global specification of the system is decomposed into local specifications that can then be used to synthesize control policies for the individual agents has been proposed [14], [15]. The approach in [14], however, is limited to the case where the global specification is traced-closed whereas the approach in [15] requires manual decomposition of the global specification and can be conservative.…”

Section: Introductionmentioning

confidence: 99%

Incremental synthesis of control policies for heterogeneous multi-agent systems with linear temporal logic specifications

Wongpiromsarn

Ulusoy

Belta

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-We consider automatic synthesis of control policies for non-independent, heterogeneous multi-agent systems with the objective of maximizing the probability of satisfying a given specification. The specification is expressed as a formula in linear temporal logic. The agents are modeled by Markov decision processes with a common set of actions. These actions, however, may or may not affect the behaviors of all the agents. To alleviate the well-known state explosion problem, an incremental approach is proposed where only a small subset of agents is incorporated in the synthesis procedure initially and more agents are successively added until the limitations on computational resources are reached. The proposed algorithm runs in an anytime fashion, where the probability of satisfying the specification increases as the algorithm progresses.

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“…Unlike the present work, they do not consider uncertainty in the environment. Ozay and collaborators present a methodology for decomposition of a specification, thus exploiting some symmetry present in the setting of multiple-target tracking in a network of actuated cameras [14]. Like the present work, they consider GR (1) formulae that can handle nondeterministic (uncertain) environments.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications

Livingston

Prabhakar

2016

Springer Tracts in Advanced Robotics

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We consider the problem of synthesizing controllers automatically for distributed robots that are loosely coupled using a formal synthesis approach. Formal synthesis entails construction of game strategies for a discrete transition system such that the system under the strategy satisfies a specification, given for instance in linear temporal logic (LTL). The general problem of automated synthesis for distributed discrete transition systems suffers from state-space explosion because the combined state-space has size exponential in the number of subsystems. Motivated by multi-robot motion planning problems, we focus on distributed systems whose interaction is nearly decoupled, allowing the overall specification to be decomposed into specifications for individual subsystems and a specification about the joint system. We treat specifically reactive synthesis for the GR(1) fragment of LTL. Each robot is subject to a GR(1) formula, and a safety formula describes constraints on their interaction. We propose an approach wherein we synthesize strategies independently for each subsystem; then we patch the separate controllers around interaction regions such that the specification about the joint system is satisfied.

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Distributed Synthesis of Control Protocols for Smart Camera Networks

Cited by 31 publications

References 22 publications

An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols

An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols

Incremental synthesis of control policies for heterogeneous multi-agent systems with linear temporal logic specifications

Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications

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