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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.11816 |
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| _version_ | 1866916637140058112 |
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| author | Sibai, Hussein Huriot, Sacha Martin, Tyler Arcak, Murat |
| author_facet | Sibai, Hussein Huriot, Sacha Martin, Tyler Arcak, Murat |
| contents | We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid redundant computations during synthesis. Our proposed algorithm adds another layer of abstraction over the common grid-based discrete abstraction before solving the synthesis problem. It combines each set of grid cells that are at a similar relative position from the targets and nearby obstacles, defined by the symmetries, into a single abstract state. It uses this layer of abstraction to guide the order by which actions are explored during synthesis over the grid-based abstraction. We demonstrate the potential of our algorithm by synthesizing a reach-avoid controller for a 3-dimensional ship model with translation and rotation symmetries in the special Euclidean group SE(2). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_11816 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Symmetry-based Abstraction Algorithm for Accelerating Symbolic Control Synthesis Sibai, Hussein Huriot, Sacha Martin, Tyler Arcak, Murat Systems and Control We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid redundant computations during synthesis. Our proposed algorithm adds another layer of abstraction over the common grid-based discrete abstraction before solving the synthesis problem. It combines each set of grid cells that are at a similar relative position from the targets and nearby obstacles, defined by the symmetries, into a single abstract state. It uses this layer of abstraction to guide the order by which actions are explored during synthesis over the grid-based abstraction. We demonstrate the potential of our algorithm by synthesizing a reach-avoid controller for a 3-dimensional ship model with translation and rotation symmetries in the special Euclidean group SE(2). |
| title | Symmetry-based Abstraction Algorithm for Accelerating Symbolic Control Synthesis |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.11816 |