Formal synthesis of distributed optimal traffic control policies

Sadraddini, Sadra; Rudan, János; Belta, Călin

doi:10.1145/3055004.3055011

Cited by 9 publications

(17 citation statements)

References 26 publications

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“…In the automotive field, prior work has focused on time-bounded behaviors and simple motion primitives rather than verification of controlled systems over complex, structured environments. Recent verification and synthesis techniques exploit composition [4,10,21,28], assume-guarantee contracts [16,29], and reachability [11]. These approaches are limited in the scope of the system and/or model considered.…”

Section: Contributions and Impactmentioning

confidence: 99%

Compositional and Contract-Based Verification for Autonomous Driving on Road Networks

Liebenwein

Schwarting

Vasile

et al. 2019

Springer Proceedings in Advanced Robotics

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Recent advances in autonomous driving have raised the problem of safety to the forefront and incentivized research into establishing safety guarantees. In this paper, we propose a safety verification framework as a safety standard for driving controllers with full or shared autonomy based on compositional and contract-based principles. Our framework enables us to synthesize safety guarantees over entire road networks by first building a library of locally verified models, and then composing local models together to verify the entire network. Composition is achieved using assumeguarantee contracts that are synthesized concurrently during verification. Thus, we can reuse local models within and across networks, add additional models to cover local road geometries without re-verifying the entire library, and perform all computations in a parallel and distributed way, which enables computational tractability. Furthermore, we employ controller contracts such that any controller satisfying them can be certified safe. We demonstrate the practical effectiveness of our framework by certifying controllers over parts of the Manhattan road network.

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Section: Contributions and Impactmentioning

confidence: 99%

Compositional and Contract-Based Verification for Autonomous Driving on Road Networks

Liebenwein

Schwarting

Vasile

et al. 2019

Springer Proceedings in Advanced Robotics

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“…We adopt the model from [9]. A traffic network N can be represented as a graph with a set of links L representing roads and nodes S representing intersections.…”

Section: A Network Dynamicsmentioning

confidence: 99%

“…We partition a traffic network into N smaller subnetworks N i , i = 1, • • • , N. A guideline for partitioning traffic networks while taking into account formal specifications was introduced in [9]. We consider traffic specifications of the following form.…”

Section: Problem Formulationmentioning

confidence: 99%

“…We use MPC to find control sequences for each sub-network optimally subject to the constraints induced by the contracts and the sub-network's own constraints. Contracts have appeared in the form of controlled invariant sets in formal control synthesis [7]- [9], where an individual subsystem treats the unknown coupling from neighboring subsystems as disturbances and computes a control strategy robust to that uncertainty. The invariant sets bound that uncertainty and satisfaction of a contract is enforced as constraints in each sub-network's MPC problem.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic contracts for distributed temporal logic control of traffic networks

Kim

Sadraddini

Belta

et al. 2017

2017 IEEE 56th Annual Conference on Decision and Control (CDC)

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Contract-based design is a method to synthesize distributed control strategies for large-scale networks of dynamically coupled systems. We propose a framework for using dynamic contracts for controlling traffic networks from temporal logic specifications. Given a traffic network, we partition it into a number of smaller sub-networks and compute a collection of assume-guarantee contracts for their dynamical interconnections. A central supervisor chooses the best contracts optimally according to the current state of the system. We use model predictive control (MPC) to find control sequences optimally for each sub-network subject to its contract obligations to and promises from its neighboring sub-networks. Our method is correct-by-design. A case study on a mixed urban-freeway network is presented, where the objective is infinite-time congestion avoidance and temporal requirements on the traffic lights in the urban intersections.

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“…This work leverages compositional tools and techniques developed for formal controller synthesis. These may involve constructing abstractions compositionally [13], decomposing the controller synthesis procedure [9] [10], or decomposing the controller itself [15]. Assume-guarantee reasoning has also been used for compositional synthesis with multiple agents by abstracting out internal information that is irrelevant to reason about system interactions [11].…”

Section: Introductionmentioning

confidence: 99%

Automatic Generation of Communication Requirements for Enforcing Multi-Agent Safety

Kim

Arcak

Seshia

et al. 2018

Electron. Proc. Theor. Comput. Sci.

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Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but maintaining an all-to-all communication topology is unreasonable and not always necessary. Given a safety objective and a controller implementation, we consider the problem of identifying when agents need to communicate with one another and coordinate their actions to satisfy the safety constraint. We define a coordination-free controllable predecessor operator that is used to derive a subset of the state space that allows agents to act independently, without consulting other agents to double check that the action is safe. Applications are shown for identifying an upper bound on connection delays and a self-triggered coordination scheme. Examples are provided which showcase the potential for designers to visually interpret a system's ability to tolerate delays when initializing a network connection.

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Formal synthesis of distributed optimal traffic control policies

Cited by 9 publications

References 26 publications

Compositional and Contract-Based Verification for Autonomous Driving on Road Networks

Compositional and Contract-Based Verification for Autonomous Driving on Road Networks

Dynamic contracts for distributed temporal logic control of traffic networks

Automatic Generation of Communication Requirements for Enforcing Multi-Agent Safety

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