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Author (up) Della Penna, Giuseppe; Magazzeni, Daniele; Tofani, Alberto; Intrigila, Benedetto; Melatti, Igor; Tronci, Enrico pdf  url
doi  openurl
  Title Automated Generation of Optimal Controllers through Model Checking Techniques Type Conference Article
  Year 2006 Publication Icinco-Icso Abbreviated Journal  
  Volume Issue Pages 26-33  
  Abstract We present a methodology for the synthesis of controllers, which exploits (explicit) model checking techniques. That is, we can cope with the systematic exploration of a very large state space. This methodology can be applied to systems where other approaches fail. In particular, we can consider systems with an highly non-linear dynamics and lacking a uniform mathematical description (model). We can also consider situations where the required control action cannot be specified as a local action, and rather a kind of planning is required. Our methodology individuates first a raw optimal controller, then extends it to obtain a more robust one. A case study is presented which considers the well known truck-trailer obstacle avoidance parking problem, in a parking lot with obstacles on it. The complex non-linear dynamics of the truck-trailer system, within the presence of obstacles, makes the parking problem extremely hard. We show how, by our methodology, we can obtain optimal controllers with different degrees of robustness.  
  Corporate Author Thesis  
  Publisher INSTICC Press Place of Publication Editor Andrade-Cetto, J.; Ferrier, J.-L.; Pereira, J. M. C. D.; Filipe, J.  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 972-8865-59-7 ISBN Medium  
  Area Expedition Conference  
  Notes Approved yes  
  Call Number Sapienza @ mari @ Dimmtt06 Serial 79  
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