Algorithms for autonomous urban navigation with formal specifications
Thesis: E.A.A., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2014
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| Online Access: | http://hdl.handle.net/1721.1/90726 |
| _version_ | 1826214076973318144 |
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| author | Chaudhari, Pratik (Pratik Anil) |
| author2 | Emilio Frazzoli. |
| author_facet | Emilio Frazzoli. Chaudhari, Pratik (Pratik Anil) |
| author_sort | Chaudhari, Pratik (Pratik Anil) |
| collection | MIT |
| description | Thesis: E.A.A., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014. |
| first_indexed | 2024-09-23T15:59:26Z |
| format | Thesis |
| id | mit-1721.1/90726 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:59:26Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/907262019-04-10T08:43:40Z Algorithms for autonomous urban navigation with formal specifications Chaudhari, Pratik (Pratik Anil) Emilio Frazzoli. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis: E.A.A., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014. Cataloged from PDF version of thesis. Includes bibliographical references (pages 58-62). This thesis addresses problems in planning and control of autonomous agents. The central theme of this work is that integration of "low-level control synthesis" and "high-level decision making" is essential to devise robust algorithms with provable guarantees on performance. We pursue two main directions here. The first part considers planning and control algorithms that satisfy temporal specifications expressed using formal languages. We focus on task specifications that become feasible only if some of the specifications are violated and compute a control law that minimizes the level of unsafety of the system while guaranteeing that it still satisfies the task specification. Examples in this domain are motivated from an autonomous car navigating an urban landscape while following road safety rules such as "always travel in the left lane" and "do not change lanes frequently" or an electric vehicle in a mobility-on-demand scenario. The second part of the thesis focuses on multi-agent control synthesis, where agents are modeled as dynamical systems and they interact with each other while sharing the same road infrastructure - all the while respecting the same road driving rules expressed as LTL specifications. We discuss algorithms that identify well-defined notions in the game theory literature such as Stackelberg equilibria and non-cooperative Nash equilibria under various information structures. This work builds upon ideas from three different fields, viz., sampling-based motion-planning algorithms to construct efficient concretizations of general, continuous time dynamical systems, model checking for formal specifications that helps guarantee the safety of a system under all scenarios, and game theory to model the interaction between different agents trying to perform possibly conflicting tasks. by Pratik Chaudhari. E.A.A. 2014-10-08T15:25:21Z 2014-10-08T15:25:21Z 2014 2014 Thesis http://hdl.handle.net/1721.1/90726 891140742 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 62 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Aeronautics and Astronautics. Chaudhari, Pratik (Pratik Anil) Algorithms for autonomous urban navigation with formal specifications |
| title | Algorithms for autonomous urban navigation with formal specifications |
| title_full | Algorithms for autonomous urban navigation with formal specifications |
| title_fullStr | Algorithms for autonomous urban navigation with formal specifications |
| title_full_unstemmed | Algorithms for autonomous urban navigation with formal specifications |
| title_short | Algorithms for autonomous urban navigation with formal specifications |
| title_sort | algorithms for autonomous urban navigation with formal specifications |
| topic | Aeronautics and Astronautics. |
| url | http://hdl.handle.net/1721.1/90726 |
| work_keys_str_mv | AT chaudharipratikpratikanil algorithmsforautonomousurbannavigationwithformalspecifications |