Trajectory generation under metric interval temporal logic specification.
Tid: Fr 2017-10-13 kl 13.00
Plats: Automatic Control Department
Abstract: Metric interval temporal logic (MITL) provides a tool to formulate high level tasks in an easy way. This allows to specify behaviour of a dynamical system in a given environment which lies beyond the scope of simple stabilization. Finding an input of the system which satisfies the MITL formula, demands new techniques and algorithms. In this thesis a novel approach is presented which abstracts the dynamical system into a time optimal weighed transition system (WTS) and converts the MITL formula into a timed büchi Automaton (TBA). From the graph product of the WTS and TBA a sequence of environment states together with time constraints is obtained. From this sequence a final optimization problem is formulated together with a user specified cost function. The solution of this final optimization problem satisfies the MITL formula for the dynamical system in the given environment and is obtained by using methods from optimal control.
Ämnesområde: Automatic Control
Respondent: Daniel Müller
Opponent: Alberto Diaz Dorado
Handledare: Sofie Andersson