论文标题
用于在符号最佳控制中应用的广义钟形算法
A generalized Bellman-Ford Algorithm for Application in Symbolic Optimal Control
论文作者
论文摘要
符号控制器合成是一种完全自动化且正确设计的合成方案，其局限性是其巨大的内存和运行时要求。弥补这一缺点的当前趋势是开发技术在数学基础和软件实施中并行执行的技术。在本文中，我们提出了一种广义的钟楼算法，该算法将用于所谓的符号最佳控制，该算法是上述合成方案的扩展。与广泛使用的Dijkstra算法相比，我们的算法具有两个优点。它允许成本函数任意（例如负）值和并行执行，并具有交易处理速度以进行内存消耗的能力。我们激发了负面成本价值的有用性，在无人驾驶汽车的空中消防方案中。此外，这个四维数字示例详细介绍了我们算法的出色表现。
Symbolic controller synthesis is a fully-automated and correct-by-design synthesis scheme whose limitations are its immense memory and runtime requirements. A current trend to compensate for this downside is to develop techniques for parallel execution of the scheme both in mathematical foundation and in software implementation. In this paper we present a generalized Bellman-Ford algorithm to be used in the so-called symbolic optimal control, which is an extension of the aforementioned synthesis scheme. Compared to the widely used Dijkstra algorithm our algorithm has two advantages. It allows for cost functions taking arbitrary (e.g. negative) values and for parallel execution with the ability for trading processing speed for memory consumption. We motivate the usefulness of negative cost values on a scenario of aerial firefighting with unmanned aerial vehicles. In addition, this four-dimensional numerical example, which is rich in detail, demonstrates the great performance of our algorithm.
