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Strategies for Improving Verification Techniques for Hybrid Systems

Carroll, Simon A.
http://rave.ohiolink.edu/etdc/view?acc_num=case1212713593

Abstract Details

2008, Master of Sciences (Engineering), Case Western Reserve University, Computing and Information Science.
In this thesis, we demonstrate techniques to improve upon the Rapidly-exploring Random Tree (RRT) as a tool for planning and verification of hybrid systems. First, we perform experiments that show many planning/verification problems exhibit heavy-tailed behavior, where sampling-based algorithms sometimes require an inordinate number of nodes to solve them. We show that using restarts and multiple trees improves their solution time. Second, we note that for many complex planning/verification problems the hybrid state space admits a natural separation into distinct modes, such that search in one does not help find a path through any other. We use a forest of trees, each tasked with solving a specific mode, to find overall solutions more quickly and with fewer nodes. Third, we solve problems with unpredictable environment changes (because of other agents, unmodeled dynamics, or disturbances) using receding horizon search, where a new path is generated whenever the current path is invalidated.
Michael Branicky (Advisor)
Guo-Qiang Zhang (Committee Member)
M. Cenk Cavusoglu (Committee Member)
149 p.
Computer Science
Hybrid Systems; RRTs; Rapidly-exploring Random Trees; Heavy-tail; Verification of Hybrid Systems

Recommended Citations

Citations

  • Carroll, S. A. (2008). Strategies for Improving Verification Techniques for Hybrid Systems [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1212713593

    APA Style (7th edition)

  • Carroll, Simon. Strategies for Improving Verification Techniques for Hybrid Systems. 2008. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1212713593.

    MLA Style (8th edition)

  • Carroll, Simon. "Strategies for Improving Verification Techniques for Hybrid Systems." Master's thesis, Case Western Reserve University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1212713593

    Chicago Manual of Style (17th edition)

case1212713593
573
© 2008, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.