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Sampling-guided symbolic control framework under changing environments

Research Project

Project/Area Number 21K14191
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionNational Institute of Advanced Industrial Science and Technology (2022-2023)
National Institute of Informatics (2021)

Principal Investigator

Pruekprasert Sasinee  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 研究員 (50814795)

Project Period (FY) 2021-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2023: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2022: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2021: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Keywordssymbolic control / control theory / motion planning / robotics / temporal logic
Outline of Research at the Start

This project aims to develop an efficient symbolic control framework for temporal logic specifications in semi-controlled environments. Symbolic control is a well-known approach to synthesizing a provably correct controller under complex specifications such as temporal logic, but this approach's main limitation is its scalability. We will develop a fast symbolic controller synthesis algorithm by performing samplings as guides for the symbolic abstraction. We will also study motion planning for nonholonomic robots based on the proposed framework.

Outline of Final Research Achievements

This research project studied safe control frameworks for semi-controlled environments in which some disturbance may occur. The overall goal of the project is to develop safe and efficient symbolic-structure-based control and verification techniques that are robust enough to handle systems under some nondeterminism and uncertainties. Throughout the research period, we developed efficient symbolic control algorithms for safety verification and control under temporal logic specficiations, and demonstrated their performances by simulations on nonholonomic robots. We studied a safe learning approach utilizing discrete symbolic structures. We also developed a moment approximation method of a stochastic polynomial system, which can be used for system safety verification.

Academic Significance and Societal Importance of the Research Achievements

Our research project provides safe system verification and control approaches that are suitable for managing safety-critical systems.

Report

(4 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • Research Products

    (9 results)

All 2024 2022 2021

All Journal Article (5 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 5 results) Presentation (4 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] Moment propagation of polynomial systems through Carleman linearization for probabilistic safety analysis2024

    • Author(s)
      Pruekprasert Sasinee、Dubut Jeremy、Takisaka Toru、Eberhart Clovis、Cetinkaya Ahmet
    • Journal Title

      Automatica

      Volume: 160 Pages: 111441-111441

    • DOI

      10.1016/j.automatica.2023.111441

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Dynamic Shielding for Reinforcement Learning in Black-Box Environments2022

    • Author(s)
      Waga Masaki、Castellano Ezequiel、Pruekprasert Sasinee、Klikovits Stefan、Takisaka Toru、Hasuo Ichiro
    • Journal Title

      Lecture Notes in Computer Science

      Volume: 13505 Pages: 25-41

    • DOI

      10.1007/978-3-031-19992-9_2

    • ISBN
      9783031199912, 9783031199929
    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Logic for Timed Agent Network Topologies2022

    • Author(s)
      Eberhart Clovis、Haydon James、Dubut Jeremy、Cetinkaya Ahmet、Pruekprasert Sasinee
    • Journal Title

      Proceedings of the 61st Conference on Decision and Control (CDC)

      Volume: - Pages: 2870-2877

    • DOI

      10.1109/cdc51059.2022.9992550

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Fast Synthesis for Symbolic Self-triggered Control under Right-recursive LTL Specifications2021

    • Author(s)
      Pruekprasert Sasinee、Eberhart Clovis、Dubut Jeremy
    • Journal Title

      2021 60th IEEE Conference on Decision and Control (CDC)

      Volume: なし Pages: 1-8

    • DOI

      10.1109/cdc45484.2021.9683328

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Local Opacity Verification for Distributed Discrete Event Systems2021

    • Author(s)
      Pruekprasert Sasinee、Cai Kai
    • Journal Title

      2021 60th IEEE Conference on Decision and Control (CDC)

      Volume: - Pages: 7022-7027

    • DOI

      10.1109/cdc45484.2021.9683017

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Dynamic Shielding for Reinforcement Learning in Black-Box Environments2022

    • Author(s)
      Waga Masaki、Castellano Ezequiel、Pruekprasert Sasinee、Klikovits Stefan、Takisaka Toru、Hasuo Ichiro
    • Organizer
      Automated Technology for Verification and Analysis (ATVA 2022)
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research
  • [Presentation] Logic for Timed Agent Network Topologies2022

    • Author(s)
      Eberhart Clovis、Haydon James、Dubut Jeremy、Cetinkaya Ahmet、Pruekprasert Sasinee
    • Organizer
      2022 IEEE 61st Conference on Decision and Control (CDC)
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research
  • [Presentation] Fast Synthesis for Symbolic Self-triggered Control under Right-recursive LTL Specifications2021

    • Author(s)
      Pruekprasert Sasinee
    • Organizer
      2021 60th IEEE Conference on Decision and Control (CDC)
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Local Opacity Verification for Distributed Discrete Event Systems2021

    • Author(s)
      Pruekprasert Sasinee
    • Organizer
      2021 60th IEEE Conference on Decision and Control (CDC)
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research

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Published: 2021-04-28   Modified: 2025-01-30  

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