PV2 ⊧ FACTEST: Fast Controller Synthesis frameworksynthesises a controller for non-linear systems with reach-avoid requirements

Application domain/field

• Non-linear vehicles
• Autonomous systems
• Controller synthesis

Type of tool

Synthesis tool

Expected input

• Environment, consisting of:
• Obstacles
• Borders
• Initial set
• Goal set
• Model, consisting of:
• Dynamics of the vehicle
• Control law
• Error bounds:
• Lyapunov function $V(e(t))$ for the tracking error $e$

Format:

Python, it expects certain function names, and return values.

Expected output

A reference trajectory and reference input for every partition (or none if it could not be found)

Internals

FACTEST synthesizes a controller for non-linear systems with reach-avoid requirements. Non-linear systems/vehicles are vehicles such as cards, drones, and underwater vehicles. The reach-avoid requirement states that a certain goal set should be reached while avoiding any obstacles in the trajectory. Uses Pypoman, Yices, SciPy, NumPy

Comments

Note, the paper that introduced RealSyn is mentioned as previous work on the project page.