Handbook of theoretical computer science (vol. B)
A really abstract concurrent model and its temporal logic
POPL '86 Proceedings of the 13th ACM SIGACT-SIGPLAN symposium on Principles of programming languages
AI '01 Proceedings of the 14th Australian Joint Conference on Artificial Intelligence: Advances in Artificial Intelligence
Automata-Theoretic Approach to Planning for Temporally Extended Goals
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
A fully automated framework for control of linear systems from LTL specifications
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
FORMATS'06 Proceedings of the 4th international conference on Formal Modeling and Analysis of Timed Systems
Robustness of temporal logic specifications
FATES'06/RV'06 Proceedings of the First combined international conference on Formal Approaches to Software Testing and Runtime Verification
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
Hierarchical trajectory refinement for a class of nonlinear systems
Automatica (Journal of IFAC)
Approximate Simulation Relations for Hybrid Systems
Discrete Event Dynamic Systems
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
Brief paper: Hierarchical control system design using approximate simulation
Automatica (Journal of IFAC)
Robustness of temporal logic specifications for continuous-time signals
Theoretical Computer Science
Specifications for decidable hybrid games
Theoretical Computer Science
Language-guided controller synthesis for discrete-time linear systems
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
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In this paper, the problem of synthesizing a hybrid controller for a specification expressed as a temporal logic formula φ is considered. We propose a hierarchical approach which consists of three steps. First, the plant to be controlled is abstracted to a fully actuated system. Using the notion of approximate simulation relation, we design a continuous interface allowing the plant to track the trajectories of its abstraction with a guaranteed precision δ. The second step, which is also the main contribution of this paper, consists in deriving a more robust specification φ′ from the temporal logic formula φ such that given a trajectory satisfying φ′, any other trajectory remaining within distance δ satisfies φ. Third, we design a hybrid controller for the abstraction such that all its trajectories satisfy the robust specification φ′. Then, the trajectories of the plant satisfy the original specification. An application to the control of a second order model of a planar robot in a polygonal environment is considered.