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Continuous and discrete abstractions for planning applied to ship docking Pierre-Jean Meyer , He Yin, Murat Arcak (UC Berkeley) Astrid Brodtkorb, Asgeir Srensen (NTNU) IFAC 2020 Pierre-Jean Meyer (UC Berkeley) Continuous and discrete

  1. Continuous and discrete abstractions for planning applied to ship docking Pierre-Jean Meyer , He Yin, Murat Arcak (UC Berkeley) Astrid Brodtkorb, Asgeir Sørensen (NTNU) IFAC 2020 Pierre-Jean Meyer (UC Berkeley) Continuous and discrete abstractions for planning IFAC 2020 1 / 13

  2. Motivation Problem definition Docking area Nonlinear system: ˙ x = f ( x , u , w ) Reach-Avoid-Stay specification Application to ship docking Reach then stay in docking area Avoid obstacles Correct-by-construction approach Offline path planning and formal methods Formal guarantees Reduced need for simulation-based testing Pierre-Jean Meyer (UC Berkeley) Continuous and discrete abstractions for planning IFAC 2020 2 / 13

  3. Overview Continuous abstraction Discrete abstraction Concrete model u 1 u 2 Models u 1 u 2 u 1 u 1 x = ˆ ˙ x = f ( x, u, w ) ˙ u 2 ˆ f (ˆ x, ˆ u, ˆ w ) u 1 u 2 Reach-avoid-stay specification Updated specifications s s r u 1 Docking area Docking area n e u 2 o l l i u 1 o t r a u 2 u 1 u 1 t c u 2 n fi o i c c e u 1 d u 2 p n S a Piecewise constant controller Tracking controller Discrete controller Pierre-Jean Meyer (UC Berkeley) Continuous and discrete abstractions for planning IFAC 2020 3 / 13

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