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3. Numerical example: controlling a mobile robot
In this section, we present an illustration of the symbolic approach to controller synthesis, using an example inspired by a mobile robotics problem. Matlab scripts for reproducing the example are available on the :
https://gitlab-research.centralesupelec.fr/antoine.girard/tutorial-example-on-symbolic-control
calculation times shown are obtained on a laptop (software: Matlab_R2019b; processor: 2.8 GHz Intel Core i7 quad-core; memory: 16 GB 2133 MHz LPDDR3).
3.1 Model and specification
Let's consider a robot moving in a plane, like a unicycle,...
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Numerical example: controlling a mobile robot
Advanced topics in symbolic control
Bibliography
Software tools
SCOTS: A Tool for the Synthesis of Symbolic Controllers
https://gitlab.lrz.de/hcs/scots
pFaces: An Acceleration Ecosystem for Formal Methods in Control
https://github.com/parallall/pFaces
Co4Pro: Correct...
Websites
IEEE Technical Committee on Hybrid Systems
https://ieeecss.org/tc/hybrid-systems
IFAC Technical Committee on Discrete Event Systems and Hybrid Systems
https://tc. ifac-control.org/1/3
The IFAC journal on...
Events
ACM International Conference on Hybrid Systems: Computation and Control. Held annually.
IFAC Conference on Analysis and Design of Hybrid Systems. Held every three years.
...Patents
Mahmoud Khaled and Majid Zamani. Distributed Automated Synthesis Of Correct-by-Construction Controllers. European Patent Office, EP3633468A1, WO2020070206A1, 2020.
...Directory
Documentation – Training – Seminars (non-exhaustive list)
Antoine Girard, Symbolic control of nonlinear systems: safety, optimization and learning Cours, École d'Été d'Automatique de Grenoble, 2023
https://hal.science/hal-04410084
Seminar, Autonomy Talks, ETH Zürich
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