The Motion Grammar calculus for Context-Free Hybrid systems

Author

Dantam, Neil ; Stilman, Mike

Author_Institution

Dept. of Interactive Comput., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

2012

fDate

27-29 June 2012

Firstpage

5294

Lastpage

5301

Abstract

This paper provides a method for deriving prov-ably correct controllers for Hybrid Dynamical Systems with Context-Free discrete dynamics, nonlinear continuous dynamics, and nonlinear state partitioning. The proposed method models the system using a Context-Free Motion Grammar and specifies correct performance using a Regular language representation such as Linear Temporal Logic. The initial model is progressively rewritten via a calculus of symbolic transformation rules until it satisfies the desired specification.

Keywords

context-free grammars; context-free languages; continuous systems; mobile robots; motion control; nonlinear dynamical systems; rewriting systems; temporal logic; context-free discrete dynamics; context-free hybrid systems; context-free motion grammar; hybrid dynamical system controllers; linear temporal logic; motion grammar calculus; nonlinear continuous dynamics; nonlinear state partitioning; regular language representation; symbolic transformation rule calculus; Computational modeling; Dynamics; Grammar; Manifolds; Robots; Transforms;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6315290

Filename

6315290