Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States

  • Sumanth DathathriEmail author
  • Ioannis Filippidis
  • Richard M. Murray
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 10)


For the synthesis of correct-by-construction control policies from temporal logic specifications the scalability of the synthesis algorithms is often a bottleneck. In this paper, we parallelize synthesis from specifications in the GR(1) fragment of linear temporal logic by introducing a hierarchical procedure that allows decoupling of the fixpoint computations. The state space is partitioned into equicontrollable sets using solutions to parametrized games that arise from decomposing the original GR(1) game into smaller reachability-persistence games. Following the partitioning, another synthesis problem is formulated for composing the strategies from the decomposed reachability games. The formulation guarantees that composing the synthesized controllers ensures satisfaction of the given GR(1) property. Experiments with robot planning problems demonstrate good performance of the approach.


Synthesis Temporal logic Generalized reactivity Binary-Decision diagrams Formal methods Discrete event systems 



This work is sponsored in part by TerraSwarm, a funded center of STARnet, a Semiconductor Research Corporation (SRC) program sponsored by MARCO and DARPA.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Sumanth Dathathri
    • 1
    Email author
  • Ioannis Filippidis
    • 2
  • Richard M. Murray
    • 2
  1. 1.CMS, California Institute of TechnologyPasadenaUSA
  2. 2.CDS, California Institute of TechnologyPasadenaUSA

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