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Egerstedt,
Magnus B.
Egerstedt,
Magnus B.
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ItemMake Your Robot Talk Correctly: Deriving Models of Hybrid System(Georgia Institute of Technology, 2011-07) Dantam, Neil ; Stilman, Mike ; Egerstedt, Magnus B.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.