Bounded-rate multi-mode systems based motion planning
Bounded-rate multi-mode systems based motion planning
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基于限速多模式系统的运动规划
DOI：
10.1145/2728606.2728616
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Ashutosh Trivedi
中科院分区：
文献类型：
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作者：
D. Bhave;Sagar Jha;S. Krishna;S. Schewe;Ashutosh Trivedi
有界速率多模态系统是一种能够在有限模态之间切换的混杂系统。它的动力学是由有限数量的实值变量与模式相关的速率，可以在给定的有界集内变化。给定一个任意分段线性轨迹，我们研究的问题，以任意精度的轨迹，使用运动原语作为有界速率多模式系统。我们给出了一个算法来解决这个问题，并证明了这个问题是co-NP完全的。我们进一步证明了对于固定维数的多模系统，该问题可以在多项式时间内求解。我们研究了具有驻留时间要求的问题，并证明了该问题在速率向量的正性约束下的可判定性。最后，我们表明，引入结构的多模系统导致不可判定性，即使只使用一个单一的时钟变量。
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.
恒定速率多模系统的优化调度
DOI：
10.1145/2185632.2185647
发表时间：
2012
期刊：
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影响因子：
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作者：
Alur R
通讯作者：
Alur R