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arXiv · 1707.04151

The Reach-Avoid Problem for Constant-Rate Multi-Mode Systems

Shankara Narayanan Krishna·Aviral Kumar·Fabio Somenzi·Behrouz Touri·Ashutosh Trivedi
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Abstract

A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time. In this paper, we study the reachability problem for non-convex state spaces and show that this problem is in general undecidable. We recover decidability by making certain assumptions about the safety set. We present a new algorithm to solve this problem and compare its performance with the popular sampling based algorithm rapidly-exploring random tree (RRT) as implemented in the Open Motion Planning Library (OMPL).

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Shankara Narayanan Krishna, Aviral Kumar, Fabio Somenzi, Behrouz Touri, Ashutosh Trivedi. 2017-07-12. The Reach-Avoid Problem for Constant-Rate Multi-Mode Systems. https://arxiv.org/abs/1707.04151

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