The Reach-Avoid Problem for Constant-Rate Multi-mode Systems
نویسندگان
چکیده
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).
منابع مشابه
Distributed Fuzzy Adaptive Sliding Mode Formation for Nonlinear Multi-quadrotor Systems
This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is...
متن کاملUsing NSGA II Algorithm for a Three Objectives Redundancy Allocation Problem with k-out-of-n Sub-Systems
in the new production systems, finding a way to improving the product and system reliability in design is a very important. The reliability of the products and systems may improve using different methods. One of this methods is redundancy allocation problem. In this problem by adding redundant component to sub-systems under some constraints, the reliability improved. In this paper we worked on ...
متن کاملA Multi-Mode Resource-Constrained Optimization of Time-Cost Trade-off Problems in Project Scheduling Using a Genetic Algorithm
In this paper, we present a genetic algorithm (GA) for optimization of a multi-mode resource constrained time cost trade off (MRCTCT) problem. The proposed GA, each activity has several operational modes and each mode identifies a possible executive time and cost of the activity. Beyond earlier studies on time-cost trade-off problem, in MRCTCT problem, resource requirements of each execution mo...
متن کاملLoad Frequency Control in Power Systems Using Multi Objective Genetic Algorithm & Fuzzy Sliding Mode Control
This study proposes a combination of a fuzzy sliding mode controller (FSMC) with integral-proportion-Derivative switching surface based superconducting magnetic energy storage (SMES) and PID tuned by a multi-objective optimization algorithm to solve the load frequency control in power systems. The goal of design is to improve the dynamic response of power systems after load demand changes. In t...
متن کاملDynamic Multi-Objective Navigation in Urban Transportation Network Using Ant Colony Optimization
Intelligent Transportation System (ITS) is one of the most important urban systems that its functionality affects other urban systems directly and indirectly. In developing societies, increasing the transportation system efficiency is an important concern, because variety of problems such as heavy traffic condition, rise of the accident rate and the reduced performance happen with the rise of p...
متن کامل