Abstract: This presentation is about mission control of autonomous vehicle
based on time logic framework. First the the topic of autonomous vehicles
will be introduced with the a
description of different control levels and the problem of mission
control. Then a logic control paradigm
is proposed to deal with the mission control specification and solution. This
approach is based on tlinear temporal logic (LTL) formula to specify the
mission objectives that can be later translated into a mission controller for
solving the problem. One key advantage of this paradigm that the solution
controller or planner is found automatically and can be proved to be correct by
construction. Most known solutions for this problem follow a static approach,
where the formula is used off-line to define completely the controller to be
implemented. One the main contributions of this research was to develop a
dynamic approach that can find an on-line solution and has lower computational
complexity. The proposed approach has many advantages: the progressive
construction of the solution, the ability to deal with changeable
specifications and environments, and the non-necessity of visiting the entire
state space for finding the solution. Examples of mission specification and
dynamic control solution are finally presented.
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