Title :
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
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;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315290
