Bounded-rate multi-mode systems based motion planning

Bhave, Devendra, Jha, Sagar, Krishna, Shankara Narayanan, Schewe, Sven ORCID: 0000-0002-9093-9518 and Trivedi, Ashutosh (2015) Bounded-rate multi-mode systems based motion planning. In: Proceedings of the 18th International Conference on Hybrid Systems Computation and Control - HSCC '15. ACM, pp. 41-50. ISBN 9781450334334

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Abstract

Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes. Its dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given bounded sets. Given an arbitrary piecewise linear trajectory, we study the problem of following the trajectory with arbitrary precision, using motion primitives given as bounded-rate multi-mode systems. We give an algorithm to solve the problem and show that the problem is co-NP complete. We further prove that the problem can be solved in polynomial time for multi-mode systems with fixed dimension. We study the problem with dwell-time requirement and show the decidability of the problem under certain positivity restriction on the rate vectors. Finally, we show that introducing structure to the multi-mode systems leads to undecidability, even when using only a single clock variable.

Item Type:	Book Section
Depositing User:	Symplectic Admin
Date Deposited:	22 Feb 2017 10:59
Last Modified:	19 Jan 2023 07:19
DOI:	10.1145/2728606.2728616
Related URLs:	Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3005468