Automatic Controller Synthesis of Motion-Tasks with Real-Time Objectives
Journal
Proceedings of the IEEE Conference on Decision and Control
Date Issued
December 2018
Author(s)
DOI
10.1109/CDC.2018.8619825
Abstract
This paper presents a novel methodology for synthesizing motion tasks with real-time objectives. The methodology utilizes Linear Temporal Logic to define the motion task sequencing. Timed motion objectives are handled by an underlying hybrid automaton that utilizes the concept of Navigation Transformation to provide a time-abstraction of the navigation task. This enables real-time execution of the navigation tasks with analytical guarantees on the safety and the execution time. The resulting system is correct by construction. The performance of the methodology is demonstrated through non-trivial simulations.