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Discrete Time Stochastic Hybrid Dynamical Games: Verification & Controller Synthesis


M. Kamgarpour, J. Ding, S. Summers, A. Abate, J. Lygeros, C. J. Tomlin

Conference on Decision and Control (CDC), pp. 6122-6127

This paper presents a framework for analyzing probabilistic safety and reachability problems for discrete time stochastic hybrid systems in scenarios where system dynamics are affected by rational competing agents. In particular, we consider a zero-sum game formulation of the probabilistic reach-avoid problem, in which the control objective is to maximize the probability of reaching a desired subset of the hybrid state space, while avoiding an unsafe set, subject to the worst-case behavior of a rational adversary. Theoretical results are provided on a dynamic programming algorithm for computing the maximal reach-avoid probability under the worst-case adversary strategy, as well as the existence of a maxmin control policy which achieves this probability. The modeling framework and computational algorithm are demonstrated using an example derived from a robust motion planning application.


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% Autogenerated BibTeX entry
@InProceedings { KamEtal:2011:IFA_3865,
    author={M. Kamgarpour and J. Ding and S. Summers and A. Abate and J. Lygeros and C. J. Tomlin},
    title={{Discrete Time Stochastic Hybrid Dynamical Games:
	  Verification \& Controller Synthesis}},
    booktitle={Conference on Decision and Control (CDC)},
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