Name
Abstract | ||
|---|---|---|
This paper describes Hy-CIRCA, an architecture for verified, correct-by-construction planning and execution for hybrid systems, including nonlinear continuous dynamics. Hy-CIRCA addresses the high computational complexity of such systems by first planning at an abstract level, and then progressively refining the original plan. Hy-CIRCA integrates the dReal nonlinear SMT solver with enhanced versions of the SHOP2 HTN planner and the CIRCA Controller Synthesis Module CSM. SHOP2 computes a high level nominal mission plan, the CIRCA CSM develops reactive controllers for the mission steps, accounting for disturbances, and dReal verifies that the plans are correct with respect to continuous dynamics. In this way, Hy-CIRCA decomposes reasoning about the plan and judiciously applies the different solvers to the problems they are best at. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/978-3-319-40648-0_29 | NFM |
Field | DocType | Volume |
Control theory,Architecture,Nonlinear system,Computer science,Planner,Control engineering,Theoretical computer science,Artificial intelligence,Hybrid system,Satisfiability modulo theories,Computational complexity theory | Conference | 9690 |
ISSN | Citations | PageRank |
0302-9743 | 2 | 0.35 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robert Goldman | 1 | 950 | 151.72 |
| Daniel Bryce | 2 | 173 | 11.83 |
| Michael J. S. Pelican | 3 | 46 | 5.34 |
| David J. Musliner | 4 | 247 | 27.12 |
| Kyungmin Bae | 5 | 156 | 12.35 |