Control design of discrete-time unicycle model using satisfiability modulo theory

This paper discusses a formal control design of a discrete-time unicycle model using Satisfiability Modulo Theory (SMT). Given a set of possible initial positions, a set of possible target positions, a lane and a time horizon, we develop a method to formally synthesize a controller that drives the u...

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Bibliographic Details

Published in:	Systems science & control engineering Vol. 12; no. 1
Main Authors:	Adzkiya, Dieky, Mufid, Muhammad Syifa'ul, Saputri, Febrianti Silviana, Abate, Alessandro
Format:	Journal Article
Language:	English
Published:	Macclesfield Taylor & Francis 31.12.2024 Taylor & Francis Ltd Taylor & Francis Group
Subjects:	Autonomous vehicles Boolean control synthesis Controllers Design linear real arithmetic satisfiability modulo theories Unicycle model Velocity
ISSN:	2164-2583, 2164-2583
Online Access:	Get full text
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