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Robust Motion Planning given Temporal Logic Specifications using Mixed Logical Dynamical Systems


G. Ulli

Semester Thesis, SS16

In this thesis, a novel method for handling uncertainty in motion planning problems described by temporal logic is proposed. The method is based on mixed-integer programming and results in an affine disturbance feedback policy for discrete-time systems which allows the system to react to dynamic changes in the environment. The considered uncertainty takes the form of a bounded additive disturbance affecting the sets that the temporal logic specifications are based on. The specifications are encoded as linear constraints and combined with the system dynamics to form a Mixed Logical Dynamical (MLD) system. Optimal control is used to find feasible policies. The technique is successfully applied to two numerical examples for reach-avoid problems, where affine disturbance feedback policies for prediction horizons of 20 and larger are computed in reasonable time.

Supervisors: Damian Frick, Tony Wood, Maryam Kamgarpou


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5609
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