Optim
This folder contains all the different (abstraction-based or not) solvers that can be used. Note that all the solvers are defined using the MathOptInterface framework: for each solver, we define a subtype of AbstractOptimizer and implement the Optimize! function.
Abstraction-based solvers
Dionysos.Optim.Abstraction.UniformGridAbstraction.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerSolver based on the classical abstraction method (used for instance in SCOTS) for which the whole domain is partioned into hyper-rectangular cells, independently of the control task.
Dionysos.Optim.Abstraction.EllipsoidsAbstraction.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerAbstraction-based solver for which the domain is covered with ellipsoidal cells, independently of the control task.
Dionysos.Optim.Abstraction.HierarchicalAbstraction.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerAbstraction-based solver for which the domain is initially partioned into coarse hyper-rectangular cells, which are iteratively locally smartly refined with respect to the control task.
Dionysos.Optim.Abstraction.LazyAbstraction.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerAbstraction-based solver for which the hyper-rectangular abstraction and the controller are co-designed to reduce the computation cost of the abstraction.
Dionysos.Optim.Abstraction.LazyEllipsoidsAbstraction.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerAbstraction-based solver using the lazy abstraction method with ellipsoidal cells.
Other solvers
Dionysos.Optim.BemporadMorari.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerBemporad Morari solver: Optimal control of hybrid systems via a predictive control scheme using mixed integer quadratic programming (MIQP) online optimization procedures.
Dionysos.Optim.BranchAndBound.Optimizer — TypeOptimizer{T} <: MOI.AbstractOptimizerBranch and bound solver: Optimal control of hybrid systems via a predictive control scheme combining a branch and bound algorithm that can refine Q-functions using Lagrangian duality.
Solvers details
Uniform Grid Abstraction
Dionysos.Optim.Abstraction.UniformGridAbstraction._get_domain_list — Function_get_domain_list(model, variables, grid)Returns a Dionysos.Domain.DomainList based on the variables and grid.
Dionysos.Optim.Abstraction.UniformGridAbstraction._discretize_continuous_system — Function_discretize_continuous_system(concrete_system::MathematicalSystems.ConstrainedBlackBoxControlContinuousSystem, model, noise)Returns the discretized system based on the concrete_system and model.
Dionysos.Optim.Abstraction.UniformGridAbstraction._validate_continuous_model — Functionvalidate_continuous_model!(model::Optimizer)Validates that the Optimizer model is correctly configured for continuous systems. Throws an error if required fields like time_step or jacobian_bound are missing or invalid.
Dionysos.Optim.Abstraction.UniformGridAbstraction.solve_concrete_problem — Functionsolve_concrete_problem(abstract_system, abstract_controller)Solves the concrete problem based on the abstract_system and abstract_controller.
Dionysos.Optim.Abstraction.UniformGridAbstraction.build_abstraction — Functionbuild_abstraction(concrete_system, model)Builds the abstraction based on the concrete_system and model.
Dionysos.Optim.Abstraction.UniformGridAbstraction.compute_controller_reach! — Functioncompute_controller_reach!(contr, autom, initlist, targetlist)Computes the controller reach based on the contr, autom, initlist, and targetlist.
Dionysos.Optim.Abstraction.UniformGridAbstraction._compute_num_targets_unreachable — Function_compute_num_targets_unreachable(num_targets_unreachable, autom)Computes the number of targets unreachable based on the autom.
Dionysos.Optim.Abstraction.UniformGridAbstraction._discrete_system — Functiondiscretized_system(concrete_system::MathematicalSystems.ConstrainedBlackBoxControlDiscreteSystem, model, noise)Returns the discretized system based on the concrete_system and model.
Dionysos.Optim.Abstraction.UniformGridAbstraction.compute_controller_safe! — Functioncompute_controller_safe!(contr, autom, initlist, safelist)Computes the controller safe based on the contr, autom, initlist, and safelist.
Dionysos.Optim.Abstraction.UniformGridAbstraction._maybe_discretized_system — Functiondiscretized_system(concrete_system, model, noise)Returns the discretized system based on the concrete_system and model.
Dionysos.Optim.Abstraction.UniformGridAbstraction.solve_abstract_problem — Functionsolve_abstract_problem(abstract_problem::Dionysos.Problem.OptimalControlProblem)Solves the abstract optimal control problem based on the abstract_problem.
solve_abstract_problem(abstract_problem::Dionysos.Problem.SafetyProblem)Solves the abstract safety problem based on the abstract_problem.
Dionysos.Optim.Abstraction.UniformGridAbstraction._data — Function_data(contr, autom, initlist, targetlist)Returns the data based on the contr, autom, initlist, and targetlist.
Dionysos.Optim.Abstraction.UniformGridAbstraction._validate_discrete_model — Functionvalidate_discrete_model!(model::Optimizer)Validates that the Optimizer model is correctly configured for discrete systems. Throws an error if required fields like sys_inv_map or growthbound_map are missing or invalid.
Dionysos.Optim.Abstraction.UniformGridAbstraction._compute_controller_reach! — Function_compute_controller_reach!(contr, autom, init_set, target_set, num_targets_unreachable, current_targets, next_targets)Computes the controller reach based on the contr, autom, init_set, target_set, num_targets_unreachable, current_targets, and next_targets.
Dionysos.Optim.Abstraction.UniformGridAbstraction.build_abstract_problem — Functionbuild_abstract_problem(concrete_problem, abstract_system)Builds the abstract problem based on the concrete_problem and abstract_system.
Dionysos.Optim.Abstraction.UniformGridAbstraction._validate_model — Functionvalidate_model!(model::Optimizer, required_fields::Vector{Symbol})Ensures the specified required_fields are set in the model. Throws an error if any field is missing.
Dionysos.Optim.Abstraction.UniformGridAbstraction._corresponding_abstract_points — Function_corresponding_abstract_state_points(abstract_system, set, position_in_domain)Returns the corresponding abstract points based on the abstract_system, set, and position_in_domain.
Dionysos.Optim.Abstraction.UniformGridAbstraction._compute_pairstable — Function_compute_pairstable(pairstable, autom)Computes the pairstable based on the pairstable and autom.