A Symbolic Approach for Multi-target Dynamic Reach-avoid Problem

Shamgah, Laya; Tadewos, Tadewos G.; Karimoddini, Ali; Homaifar, Abdollah

doi:10.1109/icca.2018.8444174

Cited by 7 publications

(3 citation statements)

References 31 publications

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“…Such a discrete planner can be used to satisfy complex objectives such as coverage, safety, and reachability. The design of discrete planners is widely studied in the literature [12,14,32,33] and is not the focus of this paper. Instead, we are interested in addressing the problem of converting the planner's discrete commands to continuous control signals, as stated below:…”

Section: Hybrid Control Problemmentioning

confidence: 99%

“…Such a discrete planner can be used to satisfy complex objectives such as coverage, safety, and reachability. The design of discrete planners is widely studied in the literature [12, 14, 32, 33] and is not the focus of this paper. Instead, we are interested in addressing the problem of converting the planner's discrete commands to continuous control signals, as stated below: Problem For the multi‐affine systems described in (1) and a discrete planner G in (10), design a hybrid controller to generate jumpless control signals,

u false(t false)

, so that the trajectories of the controlled system,

x false(t false)

, follow the commands of the discrete planner G , while respecting the velocity constraint

| \dot{x} | \leq M_{v}

.…”

Section: Problem Formulationmentioning

confidence: 99%

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Design of smooth hybrid controllers for a class of non‐linear systems

Shamgah

Tadewos

Karimoddini

2020

IET Control Theory & Appl

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Symbolic planning techniques rely on abstract information about a continuous system to design a discrete planner to satisfy desired high-level objectives. However, applying the generated discrete commands of the discrete planner to the original system may face several challenges, including real-time implementation, preserving the properties of high-level objectives in the continuous domain, and issues such as discontinuity in control signals that may physically harm the system. To address these issues and challenges, the authors proposed a novel hybrid control structure for systems with non-linear multi-affine dynamics over rectangular partitions. In the proposed framework, a discrete planner can be separately designed to achieve high-level specifications. Then, the proposed hybrid controller generates jumpless continuous control signals to drive the system over the partitioned space executing the discrete commands of the planner. The hybrid controller generates continuous signals in realtime while respecting the dynamics of the system and preserving the desired objectives of the high-level plan. The design process is described in detail and the existence and uniqueness of the proposed solution are investigated. Finally, several case studies are provided to verify the effectiveness of the developed technique.

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Section: Hybrid Control Problemmentioning

confidence: 99%

“…Such a discrete planner can be used to satisfy complex objectives such as coverage, safety, and reachability. The design of discrete planners is widely studied in the literature [12, 14, 32, 33] and is not the focus of this paper. Instead, we are interested in addressing the problem of converting the planner's discrete commands to continuous control signals, as stated below: Problem For the multi‐affine systems described in (1) and a discrete planner G in (10), design a hybrid controller to generate jumpless control signals,

u false(t false)

, so that the trajectories of the controlled system,

x false(t false)

, follow the commands of the discrete planner G , while respecting the velocity constraint

| \dot{x} | \leq M_{v}

.…”

Section: Problem Formulationmentioning

confidence: 99%

Design of smooth hybrid controllers for a class of non‐linear systems

Shamgah

Tadewos

Karimoddini

2020

IET Control Theory & Appl

Self Cite

View full text Add to dashboard Cite

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“…This set is known, in different contexts, as the reach-avoid set [13]- [18]. Providing safety guarantees is not trivial with reachavoid problems and greatly depends on the nature of the system with many techniques available for a variety of system types [19]- [21]. In our case, after a non-conservative state feedback parameterisation of the control strategy, we establish ordering relations between generated closed-loop trajectories in terms of (i) the initial conditions and (ii) the control input.…”

Section: Introductionmentioning

confidence: 99%

Kinodynamic planning for robotic manipulators using set-based methods

McGovern

Αθανασόπουλος

2022

2022 European Control Conference (ECC)

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We revisit the trajectory planning problem for general N-link robotic manipulators. Our approach focuses on characterising the whole set of states that can be transferred to a target set of velocities without violating constraints. To achieve this, we work in the commonly utilized two dimensional projected space of the Lagrangian dynamics on a specific predefined path. The produced dynamics is a double integrator, with nonlinearities being pushed into a non-convex and statedependent input constraint set. We approach the problem as a special reach-avoid set computation problem using ordering properties of the trajectories generated by a suitably parameterised state feedback control law. Our results are illustrated in simulation using a realistic model of the UR5™ commercial robot.

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