The authors present an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The key insights are:
The algorithm constructs a symmetry-based abstraction (SA) by combining grid cells that are at similar relative positions from the targets and nearby obstacles, defined by the system's symmetries.
It uses this abstraction to guide the order by which actions are explored during synthesis over the grid-based abstraction (GA), prioritizing controls that are more likely to satisfy the specification.
The algorithm also leverages symmetries to compute fewer reachable sets from scratch, transforming the rest efficiently using symmetry transformations.
Experimental results on a 3D ship model demonstrate promising computational time savings compared to the traditional synthesis algorithm for GA.
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by Hussein Siba... at arxiv.org 03-19-2024
https://arxiv.org/pdf/2403.11816.pdfDeeper Inquiries