Formal Synthesis of Control and Communication Strategies for Teams of Unmanned Vehicles

Abstract

The goal of this project is to develop theoretical frameworks and computational tools for synthesis of provably correct control and communication strategies for teams of autonomous vehicles from specifications given in rich, human-like language. Central to our approach are finite abstractions, which allow for the use of (adapted) temporal logics as specification languages, tools from formal verification resembling model checking for analysis and control, and techniques inspired from synchronization in concurrency theory for synthesis of communication strategies. We believe that we accomplished the initial objectives of the project. Specifically, we developed abstraction and control strategy for discrete-time affine systems, techniques for MDP control from PLTL and PCTL formulas, a top-down approach for distributed synthesis of control and communication strategies, and several applications to robot motion planning and control.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2012
Accession Number
ADA567708

Entities

People

  • Calin Belta

Organizations

  • Boston University

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • C4I
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Air Force
  • Aircrafts
  • Algorithms
  • Automatic
  • Autonomous Vehicles
  • Computations
  • Deployment
  • Environment
  • Motion Planning
  • Probability
  • Robotics
  • Robots
  • Specifications
  • Students
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science
  • Engineering

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Mathematical Modeling and Probability Theory.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control