Lazy Abstraction-Based Control for Safety Specifications
This work improves the efficiency of controller synthesis for safety-critical systems, a problem relevant to control theory and robotics.
The paper presents a lazy multi-layered abstraction-based controller synthesis method for safety specifications of continuous-time nonlinear systems, achieving computational savings by computing transitions on-the-fly and using coarser cells where possible.
We present a lazy version of multi-layered abstraction-based controller synthesis (ABCS) for continuous-time nonlinear dynamical systems against safety specifications. State-of-the-art multi-layered ABCS uses pre-computed finite-state abstractions of different coarseness. Our new algorithm improves this technique by computing transitions on-the-fly, and only when a particular region of the state space needs to be explored by the controller synthesis algorithm for a specific coarseness. Additionally, our algorithm improves upon existing techniques by using coarser cells on a larger subset of the state space, which leads to significant computational savings.