Synthesis of Reactive Switching Protocols From Temporal Logic Specifications

Liu, Jun; Özay, Necmiye; Topcu, Ufuk; Murray, Richard M.

doi:10.1109/tac.2013.2246095

Cited by 147 publications

(106 citation statements)

References 31 publications

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“…However, the fact that the computation of transitions in this type of abstraction relies heavily on the geometry of the vector fields with respect to the partition makes it difficult to incorporate robustness measures, especially those to deal with imperfect state information except for some special cases [14]. (11), where the system is subject to measurement errors bounded by ε = 0.1 and a delay in sensing, computation, and actuation bounded by h = 0.01. We use an (η, γ1, γ2, δ)-abstraction (given by Definition 1) of (11) to synthesize a hybrid control strategy.…”

Section: Related Workmentioning

confidence: 99%

“…Such approaches have gained increased popularity over the last few years (see, e.g., [3,8,9,11,12,15,17,21,22,26,28]). The main workflow of these approaches consists of three steps: (i) construct finite abstractions of the dynamical control systems, (ii) solve a discrete synthesis problem based on the specification and abstraction and obtain a discrete control strategy, (iii) refine the discrete control strategy to a hybrid controller that renders the dynamical system satisfy the specification.…”

Section: Introductionmentioning

confidence: 99%

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Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Özay

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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Abstraction-based, hierarchical approaches to control synthesis from temporal logic specifications for dynamical systems have gained increased popularity over the last decade. Yet various issues commonly encountered and extensively dealt with in control systems have not been adequately discussed in the context of temporal logic control of dynamical systems, such as inter-sample behaviors of a sampled-data system, effects of imperfect state measurements and unmodeled dynamics, and the use of time-discretized models to design controllers for continuous-time dynamical systems. We discuss these issues in this paper. The main motivation is to demonstrate the possibility of accounting for the mismatches between a continuous-time control system and its various types of abstract models used for control synthesis. We do this by incorporating additional robustness measures in the abstract models. Such robustness measures are gained at the price of either increased nondeterminism in the abstracted models or relaxed versions of the specification being realized. Under a unified notion of abstraction, we provide concrete means of incorporating these robustness measures and establish results that demonstrate their effectiveness in dealing with the above mentioned issues.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Özay

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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“…Some tools are already in widespread use (Cimatti et al, 2002;Ball et al, 2004), and we used SPIN (Holzmann, 2004) to verify Ach in Dantam et al (2015). Formal methods continue to be an active research area in robotics (Wang et al, 2009;Dantam and Stilman, 2013;Liu et al, 2013;Nedunuri et al, 2014;Lignos et al, 2015), bridging the fields of software engineering, automatic control, and planning and scheduling. Though limits remain on which problems admit formal reasoning, further research has the potential to broaden the scope of formal methods for humanoid robot software, changing our fundamental approach to software development.…”

Section: Resultsmentioning

confidence: 99%

Unix Philosophy and the Real World: Control Software for Humanoid Robots

Dantam

Bøndergaard²,

Johansson

et al. 2016

Front. Robot. AI

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Robot software combines the challenges of general purpose and real-time software, requiring complex logic and bounded resource use. Physical safety, particularly for dynamic systems such as humanoid robots, depends on correct software. General purpose computation has converged on unix-like operating systems -standardized as POSIX, the Portable Operating System Interface -for devices from cellular phones to supercomputers. The modular, multi-process design typical of POSIX applications is effective for building complex and reliable software. Absent from POSIX, however, is an interproccess communication mechanism that prioritizes newer data as typically desired for control of physical systems. We address this need in the Ach communication library which provides suitable semantics and performance for real-time robot control. Although initially designed for humanoid robots, Ach has broader applicability to complex mechatronic devices -humanoid and otherwise -that require real-time coupling of sensors, control, planning, and actuation. The initial user space implementation of Ach was limited in the ability to receive data from multiple sources. We remove this limitation by implementing Ach as a Linux kernel module, enabling Ach's high performance and latest-message-favored semantics within conventional POSIX communication pipelines. We discuss how these POSIX interfaces and design principles apply to robot software, and we present a case study using the Ach kernel module for communication on the Baxter robot.

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“…These relaxations were shown, with an example, to achieve a good tradeoff between computational complexity and quality of the abstract model obtained. Proposed abstraction method can easily be integrated with methods as in [21] to accommodate specifications that require reacting to possibly adversarial external events in runtime. We also defined a refinement relation between augmented finite transition systems that can be used for incrementally computing finite transition systems abstracting a switched system, with potentially higher fidelity.…”

Section: Discussionmentioning

confidence: 99%

Computing augmented finite transition systems to synthesize switching protocols for polynomial switched systems

Özay

Prabhakar

et al. 2013

2013 American Control Conference

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Abstract-This work is motivated by the problem of synthesizing mode sequences for continuous-time polynomial switched systems in order to guarantee that the trajectories of the system satisfy certain high-level specifications expressed in linear temporal logic. We use augmented finite transition systems as abstract models of continuous switched systems. Augmented finite transition systems are equipped with liveness properties that can be used to enforce progress in accordance with the underlying dynamics. We then introduce abstraction and refinement relations that induce a preorder on this class of finite transition systems. By construction, the resulting preorder respects the feasibility (i.e., realizability) of the synthesis problem. Hence, existence of a discrete switching strategy for one of these abstract finite transition systems guarantees the existence of a mode sequence for the continuous system such that all of its trajectories satisfy the specification. We also present an algorithm, which can be implemented using sum-ofsquares based relaxations, to compute such high fidelity abstract models in a computationally tractable way. Finally, these ideas are illustrated on an example.

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Synthesis of Reactive Switching Protocols From Temporal Logic Specifications

Cited by 147 publications

References 31 publications

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Abstraction, discretization, and robustness in temporal logic control of dynamical systems

Unix Philosophy and the Real World: Control Software for Humanoid Robots

Computing augmented finite transition systems to synthesize switching protocols for polynomial switched systems

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