On synthesizing robust discrete controllers under modeling uncertainty

Authors:
Ufuk Topcu;Necmiye Ozay;Jun Liu;Richard M. Murray
Affiliations:
California Institute of Technology, Pasadena, CA, USA;California Institute of Technology, Pasadena, CA, USA;California Institute of Technology, Pasadena, CA, USA;California Institute of Technology, Pasadena, CA, USA
Venue:
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Year:
2012

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Abstract

We investigate the robustness of reactive control protocols synthesized to guarantee system's correctness with respect to given temporal logic specifications. We consider uncertainties in open finite transition systems due to unmodeled transitions. The resulting robust synthesis problem is formulated as a temporal logic game. In particular, if the specification is in the so-called generalized reactivity [1] fragment of linear temporal logic, so is the augmented specification in the resulting robust synthesis problem. Hence, the robust synthesis problem belongs to the same complexity class with the nominal synthesis problem, and is amenable to polynomial time solvers. Additionally, we discuss reasoning about the effects of different levels of uncertainties on robust synthesizability and demonstrate the results on a simple robot motion planning scenario.