定速率マルチモードシステムにおける到達回避問題
The Reach-Avoid Problem for Constant-Rate Multi-Mode Systems
モード切替可能な定速率ハイブリッドシステムの非凸状態空間での到達問題が一般に決定不能であることを示し、安全集合への仮定で決定可能となる新アルゴリズムを提案、RRTと性能比較した。
著者: Shankara Narayanan Krishna, Aviral Kumar, Fabio Somenzi, Behrouz Touri, Ashutosh Trivedi
分類: cs.LO, cs.FL, cs.RO
原文アブストラクト
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time. In this paper, we study the reachability problem for non-convex state spaces and show that this problem is in general undecidable. We recover decidability by making certain assumptions about the safety set. We present a new algorithm to solve this problem and compare its performance with the popular sampling based algorithm rapidly-exploring random tree (RRT) as implemented in the Open Motion Planning Library (OMPL).
関連論文
- 平面確率的区分定数微分システムの安定性解析ハイブリッドシステム
- ハイブリッドシステムの形式的合成ハイブリッドシステム
