Patching task-level robot controllers based on a local μ-calculus formula

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Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray
2013 International Conference on Robotics and Automation (ICRA)

We present a method for mending strategies for GR(1) specifications. Given the addition or removal of edges from the game graph describing a problem (essentially transition rules in a GR(1) specification), we apply a μ-calculus formula to a neighborhood of states to obtain a “local strategy” that navigates around the invalidated parts of an original synthesized strategy. Our method may thus avoid global resynthesis while recovering correctness with respect to the new specification. We illustrate the results both in simulation and on physical hardware for a planar robot surveillance task.