Timed automata approach for motion planning using metric interval temporal logic

Zhou, Yuchen; Maity, Dipankar; Baras, John S.

doi:10.1109/ecc.2016.7810369

Cited by 38 publications

(25 citation statements)

References 22 publications

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“…[1]). For MITL, apart from [10,11] that we mentioned earlier, we are only aware of implementations for rather restricted cases, such as the safety fragment of MITL 0,∞ [12] or MITL over untimed words [39]. Our construction subsumes all of these approaches.…”

Section: The Construction Is Compatible With Off-the-shelf Model-checmentioning

confidence: 99%

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MightyL: A Compositional Translation from MITL to Timed Automata

Brihaye

Geeraerts

et al. 2017

Computer Aided Verification

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International audienceMetric Interval Temporal Logic (MITL) was first proposed in the early 1990s as a specification formalism for real-time systems. Apart from its appealing intuitive syntax, there are also theoretical evidences that make MITL a prime real-time counterpart of Linear Temporal Logic (LTL). Unfortunately, the tool support for MITL verification is still lacking to this day. In this paper, we propose a new construction from MITL to timed automata via very-weak one-clock alternating timed automata. Our construction subsumes the well-known construction from LTL to Büchi automata by Gastin and Oddoux and yet has the additional benefits of being compositional and integrating easily with existing tools. We implement the construction in our new tool MightyL and report on experiments using Uppaal and LTSmin as back-ends

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Section: The Construction Is Compatible With Off-the-shelf Model-checmentioning

confidence: 99%

“…Beyond verification of real-time software, there are numerous interests in MITL from other domains, e.g. automated planning and scheduling [39], control engineering [18] and systems biology [6]. The translation from MITL to TAs is complicated and has led to some simplified constructions, e.g.…”

Section: Introductionmentioning

confidence: 99%

MightyL: A Compositional Translation from MITL to Timed Automata

Brihaye

Geeraerts

et al. 2017

Computer Aided Verification

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“…In [7], an optimal control problem for continuous-time stochastic systems subject to objectives specified in MITL was studied. In [8], the authors focused on motion planning based on the construction of an efficient timed automaton from a given MITL specification. However, all these works are restricted to single agent planning and are not extendable to multi-agent systems in a straightforward way.…”

Section: Introductionmentioning

confidence: 99%

On the timed temporal logic planning of coupled multi-agent systems

et al. 2018

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This paper presents a fully automated procedure for controller synthesis for multiagent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi-agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.

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“…Controller synthesis under timed specifications has been considered in [9]- [13]. However, all these works are restricted to single agent planning and are not extendable to multi-agent systems in a straightforward way.…”

Section: Introductionmentioning

confidence: 99%

Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems

Νίκου

Heshmati-alamdari

Verginis

et al. 2017

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

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This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). Furthermore, the connectivity of the initially connected agents, is required to be maintained. First, assuming a polyhedral partition of the workspace, a novel decentralized abstraction that provides controllers for each agent that guarantee the transition between different regions is designed. The controllers are the solution of a Robust Optimal Control Problem (ROCP) for each agent. Second, by utilizing techniques from formal verification, an algorithm that computes the individual runs which provably satisfy the highlevel tasks is provided. Finally, simulation results conducted in MATLAB environment verify the performance of the proposed framework.Index Terms-multi-agent systems, cooperative control, hybrid systems. Alexandros Nikou, Christos Verginis and Dimos V. Dimarogonas are with the ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology, SE-100 44, Stockholm, Sweden and with the KTH Center for Autonomous Systems. Email: {anikou, cverginis, dimos}@kth.se. Shahab Heshmati-alamdari is with the Control Systems Lab,

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Timed automata approach for motion planning using metric interval temporal logic

Cited by 38 publications

References 22 publications

MightyL: A Compositional Translation from MITL to Timed Automata

MightyL: A Compositional Translation from MITL to Timed Automata

On the timed temporal logic planning of coupled multi-agent systems

Decentralized abstractions and timed constrained planning of a general class of coupled multi-agent systems

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