AAAI Publications, 2010 AAAI Spring Symposium Series

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Automatic Synthesis of Robust Embedded Control Software
Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray

Last modified: 2010-03-23


We propose a methodology for automatic synthesis of embedded control software that accounts for exogenous disturbances. The resulting system is guaranteed, by construction, to satisfy a given specification expressed in linear temporal logic. The embedded control software consists of three components: a goal generator, a trajectory planner, and a continuous controller. We demonstrate the effectiveness of the proposed technique through an example of an autonomous vehicle navigating an urban environment. This example also illustrates that the system is not only robust with respect to exogenous disturbances but also capable of handling violation of the environment assumptions.


embedded control software; linear temporal logic; receding horizon control

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