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Trajectory Generation under Metric Interval Temporal Logic Specifications
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Metric interval temporal logic (MITL) provides a tool to formulate high level tasks in an easyway. This allows to specify behaviour of a dynamical system in a given environment which liesbeyond the scope of simple stabilization. Finding an input of the system which satises the MITLformula, demands new techniques and algorithms. In this thesis, a novel approach is presented whichabstracts the dynamical system into a time optimal weighted transition system (WTS) and convertsthe MITL formula into a Timed Buchi Automaton (TBA). From the graph product of the WTS andTBA a sequence of environment states together with time constraints is obtained. Together with auser specied cost function, the sequence is translated into an optimization problem. The solutionof this nal optimization problem satises the MITL formula for the dynamical system in the givenenvironment and is obtained by using methods from optimal control.

Abstract [sv]

Metric interval temporal logic (MITL) ger ett verktyg för att formulera uppgifter på hög nivåpå ett enkelt sätt. Detta gör det möjligt att specificera beteendet hos ett dynamiskt system i engiven miljö som ligger utanför ramen för enkel stabilisering. Att hitta en insignal till systemet somuppfyller MITL-formeln kräver nya tekniker och algoritmer. I denna avhandling presenteras ett nytttillvägagångssätt som abstraherar det dynamiska systemet till ett tidsoptimerat weighted transitionsystem (WTS) och omvandlar MITL-formeln till en Timed Büchi Automaton (TBA). Frångrafprodukten av WTS och TBA erhålls en sekvens av sakens tillstånd tillsammans med tidsbegränsningar. Tillsammans med en användardefinierad kostnadsfunktion är sekvensen översatt till ettoptimeringsproblem. Lösningen av det här slutliga optimeringsproblemet uppfyller MITL-formelnför det dynamiska systemet i den givna miljön och erhålls genom att använda metoder från optimalkontroll.

Place, publisher, year, edition, pages
2017. , 69 p.
Series
TRITA-EE, ISSN 1653-5146 ; 2017:157
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-217122OAI: oai:DiVA.org:kth-217122DiVA: diva2:1153994
Available from: 2017-11-01 Created: 2017-11-01 Last updated: 2017-11-01Bibliographically approved

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Citation style
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