2021 Fiscal Year Research-status Report
Sampling-guided symbolic control framework under changing environments
| Project/Area Number |
21K14191
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| Research Institution | National Institute of Informatics |
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Principal Investigator |
プルエクプラサート サシニー 国立情報学研究所, 大学共同利用機関等の部局等, 特任研究員 (50814795)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | symbolic control / temporal logic / control theory / motion planning / robotics |
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| Outline of Annual Research Achievements |
During the first year (the academic year 2021), I have been working on two research directions for the project.
1) The first direction is to develop an algorithm to shorten the computation time of a symbolic controller under temporal logic specifications. For this direction, the main techniques are reachability analysis, numerical sampling, and heuristic pruning.
2) The second direction is to develop verification and control techniques for distributed and multi-agent systems.
The overall goal is to develop a safe and efficient symbolic controller synthesis technique that is robust enough to handle systems under changing environments, such as a shared environment between multi-agent systems.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The project is progressing smoothly as planned. We developed a fast symbolic controller synthesis algorithm using sampling and heuristic pruning, which is the first phase of the project.
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| Strategy for Future Research Activity |
For the next step, the project will further improve the fast symbolic controller synthesis algorithm developed during the first phase to handle a larger class of temporal logic specifications. Then, we will develop robust control techniques for systems under changing environments.
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| Causes of Carryover |
The reason for incurring amount to be used next fiscal year is due to canceled trips. This amount will be used for further trips when the global pandemic situation gets better.
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