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Tulip: a software toolbox for receding horizon temporal logic planning
- in Proceedings of the 14th international
"... ABSTRACT This paper describes TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to an expressive subset of linear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control system ..."
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Cited by 27 (18 self)
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ABSTRACT This paper describes TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to an expressive subset of linear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from LTL specifications, and (3) receding horizon planning. The underlying digital design synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the receding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.
Distributed Power Allocation for Vehicle Management Systems
"... Abstract — We consider the problem of designing distributed control protocols-for aircraft vehicle management systemsthat cooperatively allocate electric power while meeting certain higher level goals and requirements, and dynamically reacting to the changes in the internal system state and external ..."
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Cited by 14 (11 self)
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Abstract — We consider the problem of designing distributed control protocols-for aircraft vehicle management systemsthat cooperatively allocate electric power while meeting certain higher level goals and requirements, and dynamically reacting to the changes in the internal system state and external environment. A decentralized control problem is posed where each power distribution unit is equipped with a controller that implements a local protocol to allocate power to a certain subset of loads. We use linear temporal logic as the specification language for describing correct behaviors of the system (e.g., safe operating conditions) as well as the admissible dynamic behavior of the environment due to, for example, wind gusts and changes in system health. We start with a global specification and decompose it into local ones. These decompositions allow the protocols for each local controller to be separately synthesized and locally implemented while guaranteeing the global specifications to hold. Through a design example, we show that by refining the interface rules between power distribution units, it is possible to reduce the total power requirement. I.
On Synthesizing Robust Discrete Controllers under Modeling Uncertainty
, 2012
"... We investigate the robustness of reactive control protocols synthesized to guarantee system’s correctness with respect to given temporal logic specifications. We consider uncertainties in open finite transition systems due to unmodeled transitions. The resulting robust synthesis problem is formulate ..."
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Cited by 6 (1 self)
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We investigate the robustness of reactive control protocols synthesized to guarantee system’s correctness with respect to given temporal logic specifications. We consider uncertainties in open finite transition systems due to unmodeled transitions. The resulting robust synthesis problem is formulated as a temporal logic game. In particular, if the specification is in the so-called generalized reactivity [1] fragment of linear temporal logic, so is the augmented specification in the resulting robust synthesis problem. Hence, the robust synthesis problem belongs to the same complexity class with the nominal synthesis problem, and is amenable to polynomial time solvers. Additionally, we discuss reasoning about the effects of different levels of uncertainties on robust synthesizability and demonstrate the results on a simple robot motion planning scenario.
Synthesizing control software from boolean relations
- Int. J. on Advances in SW
"... Abstract—Many software as well digital hardware automatic synthesis methods define the set of implementations meeting the given system specifications with a boolean relation K. In such a context a fundamental step in the software (hardware) synthesis process is finding effective solutions to the fun ..."
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Cited by 2 (2 self)
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Abstract—Many software as well digital hardware automatic synthesis methods define the set of implementations meeting the given system specifications with a boolean relation K. In such a context a fundamental step in the software (hardware) synthesis process is finding effective solutions to the functional equation defined by K. This entails finding a (set of) boolean function(s) F (typically represented using OBDDs, Ordered Binary Decision Diagrams) such that: 1) for all x for which K is satisfiable, K(x, F (x)) = 1 holds; 2) the implementation of F is efficient with respect to given implementation parameters such as code size or execution time. While this problem has been widely studied in digital hardware synthesis, little has been done in a software synthesis context. Unfortunately, the approaches developed for hardware synthesis cannot be directly used in a software context. This motivates investigation of effective methods to solve the above problem when F has to be implemented with software. In this paper, we present an algorithm that, from an OBDD representation for K, generates a C code implementation for F that has the same size as the OBDD for F and a worst case execution time linear in nr, being n = |x | the number of input arguments for functions in F and r the number of functions in F. Moreover, a formal proof of the proposed algorithm correctness is also shown. Finally, we present experimental results showing effectiveness of the proposed algorithm.
Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity
"... Abstract — We consider the problem of estimating the discrete state of an aircraft electric system under a distributed control architecture through active sensing. The main idea is to use a set of controllable switches to reconfigure the system in order to gather more information about the unknown s ..."
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Abstract — We consider the problem of estimating the discrete state of an aircraft electric system under a distributed control architecture through active sensing. The main idea is to use a set of controllable switches to reconfigure the system in order to gather more information about the unknown state. By adaptively making a sequence of reconfiguration decisions with uncertain outcome, then correlating measurements and prior information to make the next decision, we aim to reduce the uncertainty. A greedy strategy is developed that maximizes the one-step expected uncertainty reduction. By exploiting recent results on adaptive submodularity, we give theoretical guaran-tees on the worst-case performance of the greedy strategy. We apply the proposed method in a fault detection scenario where the discrete state captures possible faults in various circuit components. In addition, simple abstraction rules are proposed to alleviate state space explosion and to scale up the strategy. Finally, the efficiency of the proposed method is demonstrated empirically on different circuits. I.
Specification and Synthesis of Reactive Protocols for Aircraft Electric Power Distribution
, 2014
"... The increasing complexity of electric power systems leads to challenges in integration and verification. We consider the problem of designing a control protocol for an aircraft electric power system that meets a set of requirements describing the correct behaviors of the system and reacts dynamical ..."
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The increasing complexity of electric power systems leads to challenges in integration and verification. We consider the problem of designing a control protocol for an aircraft electric power system that meets a set of requirements describing the correct behaviors of the system and reacts dynamically to changes in internal system states. We formalize the requirements by translating them into a temporal logic specification language and apply game-based, temporal logic formal methods to automatically synthesize a controller protocol that satisfies these overall properties and requirements. Through a case study, we perform a design exploration to show the benefits and tradeoffs between centralized and distributed control architectures.
Acknowledgement
, 2002
"... This thesis was prepared at the Faculty of Biochemical Pharmacology in the University of ..."
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This thesis was prepared at the Faculty of Biochemical Pharmacology in the University of
1A Contract-Based Methodology for Aircraft Electric Power System Design
"... Abstract—In an aircraft electric power system, one or more supervisory control units actuate a set of electromechanical switches to dynamically distribute power from generators to loads, while satisfying safety, reliability and real-time perfor-mance requirements. To reduce expensive re-design steps ..."
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Abstract—In an aircraft electric power system, one or more supervisory control units actuate a set of electromechanical switches to dynamically distribute power from generators to loads, while satisfying safety, reliability and real-time perfor-mance requirements. To reduce expensive re-design steps, this control problem is generally addressed by minor incremental changes on top of consolidated solutions. A more systematic approach is hindered by a lack of rigorous design methodologies that allow estimating the impact of earlier design decisions on the final implementation. To achieve an optimal imple-mentation that satisfies a set of requirements, we propose a platform-based methodology for electric power system design, which enables independent implementation of system topology (i.e. interconnection among elements) and control protocol by using a compositional approach. In our flow, design space exploration is carried out as a sequence of refinement steps from the initial specification towards a final implementation by mapping higher-level behavioral and performance models into a set of either existing or virtual library components at the lower level of abstraction. Specifications are first expressed using the formalisms of linear temporal logic, signal temporal logic and arithmetic constraints on Boolean variables. To reason about different requirements, we use specialized analysis and synthesis frameworks and formulate assume-guarantee contracts at the articulation points in the design flow. We show the effectiveness of our approach on a proof-of-concept electric power system design. I.
Abstractions
"... and sensor design in partial-information, reactive controller synthesis ..."
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TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning
"... This paper describes TuLiP, a Python-based software tool-box for the synthesis of embedded control software that is provably correct with respect to an expressive subset of lin-ear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) d ..."
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This paper describes TuLiP, a Python-based software tool-box for the synthesis of embedded control software that is provably correct with respect to an expressive subset of lin-ear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from LTL specifications, and (3) receding horizon planning. The underlying digital de-sign synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the re-ceding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.
