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Bounded-rate multi-mode systems based motion planning

Authors:

Devendra Bhave,

Sagar Jha,

Shankara Narayanan Krishna,

Sven Schewe,

Ashutosh TrivediAuthors Info & Claims

HSCC '15: Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control

Pages 41 - 50

https://doi.org/10.1145/2728606.2728616

Published: 14 April 2015 Publication History

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Abstract

Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes. Its dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given bounded sets. Given an arbitrary piecewise linear trajectory, we study the problem of following the trajectory with arbitrary precision, using motion primitives given as bounded-rate multi-mode systems. We give an algorithm to solve the problem and show that the problem is co-NP complete. We further prove that the problem can be solved in polynomial time for multi-mode systems with fixed dimension. We study the problem with dwell-time requirement and show the decidability of the problem under certain positivity restriction on the rate vectors. Finally, we show that introducing structure to the multi-mode systems leads to undecidability, even when using only a single clock variable.

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Cited By

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Guo HWu FQin YLi RLi KLi K(2023)Recent Trends in Task and Motion Planning for Robotics: A SurveyACM Computing Surveys10.1145/358313655:13s(1-36)Online publication date: 13-Jul-2023
https://dl.acm.org/doi/10.1145/3583136
Blondin MOfftermatt PSansfaçon-Buchanan A(2023)Verifying linear temporal specifications of constant-rate multi-mode systems2023 38th Annual ACM/IEEE Symposium on Logic in Computer Science (LICS)10.1109/LICS56636.2023.10175721(1-13)Online publication date: 26-Jun-2023
https://doi.org/10.1109/LICS56636.2023.10175721
Somenzi FTouri BTrivedi A(2018)Global Almost-Sure Reachability in Stochastic Constant-Rate Multi-Mode SystemsProceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)10.1145/3178126.3178149(11-20)Online publication date: 11-Apr-2018
https://dl.acm.org/doi/10.1145/3178126.3178149
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Index Terms

Bounded-rate multi-mode systems based motion planning
1. Hardware
  1. Electronic design automation
    1. High-level and register-transfer level synthesis
2. Software and its engineering
  1. Software creation and management
    1. Designing software
  2. Software organization and properties
    1. Contextual software domains
      1. Operating systems

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Published In

HSCC '15: Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control

April 2015

321 pages

ISBN:9781450334334

DOI:10.1145/2728606

Program Chairs:
Antoine Girard
Université Joseph Fourier, Grenoble, France
,
Sriram Sankaranarayanan
University of Colorado at Boulder

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 14 April 2015

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HSCC '15: 18th International Conference on Hybrid Systems: Computation and Control

April 14 - 16, 2015

Washington, Seattle

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Guo HWu FQin YLi RLi KLi K(2023)Recent Trends in Task and Motion Planning for Robotics: A SurveyACM Computing Surveys10.1145/358313655:13s(1-36)Online publication date: 13-Jul-2023
https://dl.acm.org/doi/10.1145/3583136
Blondin MOfftermatt PSansfaçon-Buchanan A(2023)Verifying linear temporal specifications of constant-rate multi-mode systems2023 38th Annual ACM/IEEE Symposium on Logic in Computer Science (LICS)10.1109/LICS56636.2023.10175721(1-13)Online publication date: 26-Jun-2023
https://doi.org/10.1109/LICS56636.2023.10175721
Somenzi FTouri BTrivedi A(2018)Global Almost-Sure Reachability in Stochastic Constant-Rate Multi-Mode SystemsProceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)10.1145/3178126.3178149(11-20)Online publication date: 11-Apr-2018
https://dl.acm.org/doi/10.1145/3178126.3178149
Alur RForejt VMoarref STrivedi A(2017)Schedulability of Bounded-Rate Multimode SystemsACM Transactions on Embedded Computing Systems10.1145/299679716:3(1-27)Online publication date: 26-May-2017
https://dl.acm.org/doi/10.1145/2996797

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Optimal scheduling for constant-rate multi-mode systems

Interrupt Timed Automata: verification and expressiveness

Motion-Driven Action-Based Planning

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Optimal scheduling for constant-rate multi-mode systems

Interrupt Timed Automata: verification and expressiveness

Motion-Driven Action-Based Planning

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