• Sorted by Date • Classified by Publication Type • Sorted by First Author Last Name • Classified by Author Last Name •
Y. Zhang and Alan K. Mackworth. Synthesis of Hybrid Constraint-Based Controllers. In Hybrid Systems II, pp. 552–567, Springer-Verlag, Berlin, February 1995.
A robot is an integrated system, with a controller embedded in its plant. We take a robotic system to be the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. We call the dynamic relationship of a robot and its environment the behavior of the robotic system. The problem of control synthesis is: given a requirements specification for the behavior, and given dynamic models of the plant and the environment, generate a controller so that the behavior of the robotic system satisfies the specification. We have developed a formal language, Timed Linear Temporal Logic (TLTL) [17], for requirements specification. We have also developed a semantic model, Constraint Nets [19], for modeling hybrid dynamic systems. In this paper, we study the problem of control synthesis using these representations. Control synthesis in general is difficult. We first focus on a special class of requirements specification, called constraint-based specification, in which constraints are associated with properties such as safety, reachability and persistence. Then we develop a systematic approach to synthesizing controllers using constraint methods, in which controllers are embedded constraint solvers that solve constraints in real-time. Finally, we consider hierarchical control structures, in which the higher levels embody digital/symbolic event-driven control derived from discrete constraint methods and the lower levels incorporate analog control based on continuous constraint methods. We illustrate these techniques using a robot soccer player as a running example.
@InProceedings{HSII95,
author = {Y. Zhang and Alan K. Mackworth},
title = {Synthesis of Hybrid Constraint-Based Controllers},
year = {1995},
month = {February},
booktitle = {Hybrid Systems II},
Editor = {P. Antsaklis et al.},
publisher = {Springer-Verlag},
series = {Lecture Notes in Computer Science},
volume = {999},
address = {Berlin},
pages = {552--567},
abstract = {A robot is an integrated system, with a controller embedded in its plant. We take a robotic system to be the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. We call the dynamic relationship of a robot and its environment the behavior of the robotic system. The problem of control synthesis is: given a requirements specification for the behavior, and given dynamic models of the plant and the environment, generate a controller so that the behavior of the robotic system satisfies the specification. We have developed a formal language, Timed Linear Temporal Logic (TLTL) [17], for requirements specification. We have also developed a semantic model, Constraint Nets [19], for modeling hybrid dynamic systems. In this paper, we study the problem of control synthesis using these representations. Control synthesis in general is difficult. We first focus on a special class of requirements specification, called constraint-based specification, in which constraints are associated with properties such as safety, reachability and persistence. Then we develop a systematic approach to synthesizing controllers using constraint methods, in which controllers are embedded constraint solvers that solve constraints in real-time. Finally, we consider hierarchical control structures, in which the higher levels embody digital/symbolic event-driven control derived from discrete constraint methods and the lower levels incorporate analog control based on continuous constraint methods. We illustrate these techniques using a robot soccer player as a running example.},
bib2html_pubtype ={Refereed Conference Proceeding},
bib2html_rescat ={},
}
Generated by bib2html.pl (written by Patrick Riley ) on Wed Apr 23, 2014 19:08:34