Chains of Integrators as a Benchmark for Scalability of Hybrid Control Synthesis

8 pages•Published: February 1, 2017

Abstract

Formal methods refers broadly to techniques for the verification and
automatic synthesis of transition systems that satisfy desirable properties
exactly or within some statistical tolerance. Though historically developed for
concurrent software, recent work has brought these methods to bear on motion
planning in robotics. Challenges specific to robotics, such as uncertainty and
real-time constraints, have motivated extensions to existing methods and
entirely novel treatments. However, compared to other areas within robotics
research, demonstrations of formal methods have been surprisingly small-scale.
The proposed benchmark seeks to motivate advancement of the state of
the art toward practical realization by testing scalability of existing tools, and
motivating improvements.

Keyphrases: benchmark, formal methods, linear temporal logic, motion planning, reach avoid, robotics, synthesis

In: Goran Frehse and Matthias Althoff (editors). ARCH16. 3rd International Workshop on Applied Verification for Continuous and Hybrid Systems, vol 43, pages 52-59.

Links:	https://easychair.org/publications/paper/sr2t
	https://doi.org/10.29007/sqlx