Automatic Synthesis of Robust Embedded Control Software
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray · 2010
We propose a methodology for automatic synthesis of embedded control software that accounts for exogenous disturbances. The resulting system is guaranteed, by construction, to satisfy a given specification expressed in linear temporal logic. The embedded control soft-ware consists of three components: a goal generator, a trajectory planner, and a continuous controller. We demonstrate the effectiveness of the proposed technique through an example of an autonomous vehicle navigat-ing an urban environment. This example also illustrates that the system is not only robust with respect to exoge-nous disturbances but also capable of handling violation of the environment assumptions. 1.