We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system towards a prescribed target set in finite time (\textit{reachability}), while at the same time remaining inside a safety set for all time (\textit{safety}). By leveraging the notion of δ-ISS control Lyapunov function, we derive a sufficient condition to generate a communication scheduling, such that the resulting state trajectory guarantees reachability and safety. Moreover, in order to alleviate computational burden we present a way to find a suitable communication scheduling by implementing abstraction schemes and standard graph search methodologies. Simulation examples validate the effectiveness of the proposed approach.
@article{arxiv.1902.07461,
title = {Synthesizing communication plans for reachability and safety specifications},
author = {Kazumune Hashimoto and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:1902.07461},
year = {2019}
}