(Georgia Institute of Technology, 2011-07)
Dantam, Neil; Stilman, Mike; Egerstedt, Magnus B.; Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Using both formal language and differential
equations to model a robotic system, we introduce a calculus
of transformation rules for the symbolic derivation of
hybrid controllers. With a Context-Free Motion Grammar,
we show how to test reachability between different regions
of state-space and give several symbolic transformations to
modify the set of event strings the system may generate.
This approach lets one modify the language of the hybrid
system, providing a way to change system behavior so that
it satisfies linguistic constraints on correct operation.