Optimal planning on register automata

This paper addresses the optimal planning problem on register automata, a special class of finite state machines which can process continuous inputs. Register automata emerge as abstractions of a class of switched dynamical systems with convergent continuous component dynamics, and dwell times sufficiently large to allow convergence to neighborhoods of parameterized limit sets in finite time. A word in a register automaton corresponds to a specific switching sequence in the switched system. The goal is to construct switching input sequences with the appropriate limit set parameterization so that the switched system is steered to a given region of its state space in minimum time.