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Author  |
Della Penna, Giuseppe; Magazzeni, Daniele; Tofani, Alberto; Intrigila, Benedetto; Melatti, Igor; Tronci, Enrico |
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Title |
Automated Generation of Optimal Controllers through Model Checking Techniques |
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Conference Article |
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Year |
2006 |
Publication |
Icinco-Icso |
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Pages |
26-33 |
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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. |
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Publisher |
INSTICC Press |
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Editor |
Andrade-Cetto, J.; Ferrier, J.-L.; Pereira, J. M. C. D.; Filipe, J. |
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Edition |
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ISSN |
972-8865-59-7 |
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Approved |
yes |
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Call Number |
Sapienza @ mari @ Dimmtt06 |
Serial |
79 |
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