Optimal Control of Multi-Vehicle Systems with Temporal Logic Constraints
Summary :
In this paper, optimal control of multi-vehicle systems is studied. In the case where collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulations are presented. The proposed method provides us a useful method in control of multi-vehicle systems.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E98-A No.2 pp.626-634
- Publication Date
- 2015/02/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E98.A.626
- Type of Manuscript
- Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)
- Category
Authors
Koichi KOBAYASHI
Japan Advanced Institute of Science and Technology
Takuro NAGAMI
Japan Advanced Institute of Science and Technology
Kunihiko HIRAISHI
Japan Advanced Institute of Science and Technology
Keyword
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Koichi KOBAYASHI, Takuro NAGAMI, Kunihiko HIRAISHI, "Optimal Control of Multi-Vehicle Systems with Temporal Logic Constraints" in IEICE TRANSACTIONS on Fundamentals,
vol. E98-A, no. 2, pp. 626-634, February 2015, doi: 10.1587/transfun.E98.A.626.
Abstract: In this paper, optimal control of multi-vehicle systems is studied. In the case where collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulations are presented. The proposed method provides us a useful method in control of multi-vehicle systems.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E98.A.626/_p
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@ARTICLE{e98-a_2_626,
author={Koichi KOBAYASHI, Takuro NAGAMI, Kunihiko HIRAISHI, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Optimal Control of Multi-Vehicle Systems with Temporal Logic Constraints},
year={2015},
volume={E98-A},
number={2},
pages={626-634},
abstract={In this paper, optimal control of multi-vehicle systems is studied. In the case where collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulations are presented. The proposed method provides us a useful method in control of multi-vehicle systems.},
keywords={},
doi={10.1587/transfun.E98.A.626},
ISSN={1745-1337},
month={February},}
Copy
TY - JOUR
TI - Optimal Control of Multi-Vehicle Systems with Temporal Logic Constraints
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 626
EP - 634
AU - Koichi KOBAYASHI
AU - Takuro NAGAMI
AU - Kunihiko HIRAISHI
PY - 2015
DO - 10.1587/transfun.E98.A.626
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E98-A
IS - 2
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - February 2015
AB - In this paper, optimal control of multi-vehicle systems is studied. In the case where collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulations are presented. The proposed method provides us a useful method in control of multi-vehicle systems.
ER -
English
