In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safelinear temporal logic (scLTL) formulas . We formulate this problem as a sequence of reach-avoid optimal control sub-problems . We show that the resulting hybridoptimal control policy guarantees the satisfaction of a given scLTL formula by constructing a barrier certificate . We take a learning-based approach toapproximately solve this sequence of optimal control problems online without requiring full knowledge of the system dynamics .
Author(s) : Max Cohen, Calin BeltaLinks : PDF - Abstract
Code :
https://github.com/nhynes/abc
Keywords : control - optimal - logic - problem - problems -