Optimization-based trajectory generation with linear temporal logic specifications

Wolff, Eric M.; Topcu, Ufuk; Murray, Richard M.

doi:10.1109/icra.2014.6907641

Cited by 109 publications

(111 citation statements)

References 17 publications

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“…In contrast, approaches that eschew discrete abstractions include those based on sampling-based methods [12], and mixed-integer linear programming encodings of temporal logic specifications [13,11,15,23,21]. The latter have thus far been confined to the realm of deterministic operating environments, and it is this gap that we close with the current work.…”

Section: Introductionmentioning

confidence: 54%

Reactive synthesis from signal temporal logic specifications

Raman

Donzé

Sadigh

et al. 2015

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control

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208

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We present a counterexample-guided inductive synthesis approach to controller synthesis for cyber-physical systems subject to signal temporal logic (STL) specifications, operating in potentially adversarial nondeterministic environments. We encode STL specifications as mixed integer-linear constraints on the variables of a discrete-time model of the system and environment dynamics, and solve a series of optimization problems to yield a satisfying control sequence. We demonstrate how the scheme can be used in a receding horizon fashion to fulfill properties over unbounded horizons, and present experimental results for reactive controller synthesis for case studies in building climate control and autonomous driving.

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Section: Introductionmentioning

confidence: 54%

Reactive synthesis from signal temporal logic specifications

Raman

Donzé

Sadigh

et al. 2015

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control

Self Cite

232

208

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show abstract

“…Consequently, we only need three control inputs, F, u 1 , and u 2 for the system. The linearized model is the same as what is done in [14], [18]. The system matrices for the linearized model are: 2) Car-Like Model: We also investigate our approach on a car-like dynamical system (4).…”

Section: A Linearized Dynamics Of the Robotmentioning

confidence: 99%

“…We linearize this nonlinear model about several values for θ and depending on the value of θ, the closest linearization was used to drive the linearized system. The linearization is similar to what is suggested in [14]. The linearized system matrices atθ are given by:…”

Section: A Linearized Dynamics Of the Robotmentioning

confidence: 99%

Optimal mission planner with timed temporal logic constraints

Zhou

Maity

Baras

2015

2015 European Control Conference (ECC)

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Abstract-In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. This approach is different from the automata based methods which generate a finite abstraction of the environment and dynamics, and use an automata theoretic approach to formally generate a path that satisfies the TL. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications.

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“…The output trajectories of (4) are exactly those of (3), given the same input, and thus we call them equivalent. In (3), control input is applied as the m-th derivative of an n-dimensional variable q, and the intermediate derivatives are made explicit in (4). A notable particular case is m = 2, which is called the "double integrator".…”

Section: Dynamics and Constraintsmentioning

confidence: 99%

“…Others can be directly applied, e.g., Kloetzer and Belta [3], and Wolff et al [4] present algorithms for linear systems, labeled polytopes, and LTL specifications. The objective of this benchmark is to provide a platform for demonstrating scalable implementations of these existing approaches, as well as to motivate new ones.…”

Section: Specificationsmentioning

confidence: 99%

Chains of Integrators as a Benchmark for Scalability of Hybrid Control Synthesis

Livingston¹,

Raman²

EPiC Series in Computing

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Formal methods refers broadly to techniques for the verification and automatic synthesis of transition systems that satisfy desirable properties exactly or within some statistical tolerance. Though historically developed for concurrent software, recent work has brought these methods to bear on motion planning in robotics. Challenges specific to robotics, such as uncertainty and real-time constraints, have motivated extensions to existing methods and entirely novel treatments. However, compared to other areas within robotics research, demonstrations of formal methods have been surprisingly smallscale. The proposed benchmark seeks to motivate advancement of the state of the art toward practical realization by testing scalability of existing tools, and motivating improvements.

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Optimization-based trajectory generation with linear temporal logic specifications

Cited by 109 publications

References 17 publications

Reactive synthesis from signal temporal logic specifications

Reactive synthesis from signal temporal logic specifications

Optimal mission planner with timed temporal logic constraints

Chains of Integrators as a Benchmark for Scalability of Hybrid Control Synthesis

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