Periodically controlled hybrid systems verifying a controller for an autonomous vehicle

Tichakorn Wongpiromsarn; Sayan Mitra; Richard M. Murray; Andrew Lamperski

doi:10.1007/978-3-642-00602-9_28

Periodically controlled hybrid systems verifying a controller for an autonomous vehicle

Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.

Original language	English (US)
Title of host publication	Hybrid Systems
Subtitle of host publication	Computation and Control - 12th International Conference, HSCC 2009, Proceedings
Pages	396-410
Number of pages	15
DOIs	https://doi.org/10.1007/978-3-642-00602-9_28
State	Published - Jul 15 2009
Event	12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009 - San Francisco, CA, United States Duration: Apr 13 2009 → Apr 15 2009

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5469
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009
Country/Territory	United States
City	San Francisco, CA
Period	4/13/09 → 4/15/09

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Wongpiromsarn, T., Mitra, S., Murray, R. M., & Lamperski, A. (2009). Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. In Hybrid Systems: Computation and Control - 12th International Conference, HSCC 2009, Proceedings (pp. 396-410). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5469). https://doi.org/10.1007/978-3-642-00602-9_28

Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. / Wongpiromsarn, Tichakorn; Mitra, Sayan; Murray, Richard M. et al.
Hybrid Systems: Computation and Control - 12th International Conference, HSCC 2009, Proceedings. 2009. p. 396-410 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5469).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wongpiromsarn, T, Mitra, S, Murray, RM & Lamperski, A 2009, Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. in Hybrid Systems: Computation and Control - 12th International Conference, HSCC 2009, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5469, pp. 396-410, 12th International Conference on Hybrid Systems: Computation and Control, HSCC 2009, San Francisco, CA, United States, 4/13/09. https://doi.org/10.1007/978-3-642-00602-9_28

Wongpiromsarn T, Mitra S, Murray RM, Lamperski A. Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. In Hybrid Systems: Computation and Control - 12th International Conference, HSCC 2009, Proceedings. 2009. p. 396-410. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-00602-9_28

Wongpiromsarn, Tichakorn ; Mitra, Sayan ; Murray, Richard M. et al. / Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. Hybrid Systems: Computation and Control - 12th International Conference, HSCC 2009, Proceedings. 2009. pp. 396-410 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Periodically controlled hybrid systems verifying a controller for an autonomous vehicle

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