This paper addresses the problem of numerically finding an optimal path for a robot with non-holonomic constraints. A car like robot, whose turning radius is lower bounded i s considered as an example, where the arc length and the change in steering angle are optimized. The car like robot is kinematically constrained and is modelled as a 2 D object translating and rotating in the horizontal plane in the midst of well defined static obstacles. Given the initial and final configurations of the car and a complete description of the obstacles, our procedure directly generates a nonholonomic path as a function of the control variables in an environment of reasonable obstacle clutter. Nonholonomic paths in the midst of more complet obstacle clutter have been generated by identifying grid points on a geometric road map and by applying our procedam between successive grid points.
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.
The synthesis of maximally-permissive controllers in infinite-state systems has many practical applications. Such controllers directly correspond to maximal winning strategies in logically specified infinite-state two-player games. In this paper, we introduce a tool called GenSys which is a fixed-point engine for computing maximal winning strategies for players in infinite-state safety games. A key feature of GenSys is that it leverages the capabilities of existing off-the-shelf solvers to implement its fixed point engine. GenSys outperforms state-of-the-art tools in this space by a significant margin. Our tool has solved some of the challenging problems in this space, is scalable, and also synthesizes compact controllers. These controllers are comparatively small in size and easier to comprehend. GenSys is freely available for use and is available under an open-source license. CCS CONCEPTS• Theory of computation → Automated reasoning; Constraint and logic programming; Logic and verification.
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.
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