Sampling-Based Reachability Algorithms for Control and Verification of Complex Systems
نویسندگان
چکیده
In this paper, we survey sampling-based reachability algorithms that may be used for planning, control, and verification of complex systems. These were inspired by two robotics motion planning algorithms: Rapidly-exploring Random Trees (RRTs) and Probabilistic RoadMaps (PRMs). Herein, we review RRTs and PRMs. We review our adaptations and extensions to nonlinear control problems, hybrid systems, and completely discrete problems. We also summarize our work on the properties of sampling-based techniques.
منابع مشابه
Reachability checking in complex and concurrent software systems using intelligent search methods
Software system verification is an efficient technique for ensuring the correctness of a software product, especially in safety-critical systems in which a small bug may have disastrous consequences. The goal of software verification is to ensure that the product fulfills the requirements. Studies show that the cost of finding and fixing errors in design time is less than finding and fixing the...
متن کاملControl Simulation and Experimental Verification of Maximum Power Point Tracking Based on RT-LAB (TECHNICAL NOTE)
The maximum power point tracking (MPPT) control in the Photovoltaic system is the key control technology, however present controller has the disadvantages of long development cycle, high cost and complex verification, and there are some disadvantages carrying out totally physical simulation or totally digital simulation of different control algorithms. This paper carried out design of hardware ...
متن کاملEstimating Rewards & Rare Events in Nondeterministic Systems
Exhaustive verification can quantify critical behaviour arising from concurrency in nondeterministic models. Rare events typically entail no additional challenge, but complex systems are generally intractable. Recent work on Markov decision processes allows the extremal probabilities of a property to be estimated using Monte Carlo techniques, offering the potential to handle much larger models....
متن کاملHigh Dimensional Reachability Analysis: Addressing the Curse of Dimensionality in Formal Verification
High Dimensional Reachability Analysis: Addressing the Curse of Dimensionality in Formal Verification by Mo Chen Doctor of Philosophy in Engineering Electrical Engineering and Computer Sciences University of California, Berkeley Professor Claire Tomlin, Chair Automation is becoming pervasive in everyday life, and many automated systems, such as unmanned aerial systems, autonomous cars, and many...
متن کاملSafety verification and reachability analysis for hybrid systems
Safety verification and reachability analysis for hybrid systems is a very active research domain. Many approaches that seem quite different, have been proposed to solve this complex problem. This paper presents an overview of various approaches for autonomous, continuous time hybrid systems and present them with respect to basic problems related to verification.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005