Synthesis of Correct-by-Construction Behavior Trees

From MurrayWiki
Jump to: navigation, search
Title Synthesis of Correct-by-Construction Behavior Trees
Authors Michele Colledanchise, Richard M. Murray, and Petter Ogren
Source Submitted, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Abstract In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admissible environment specifications, an agent model in form of a Finite Transition System and the desired task in form of an LTL formula, we synthesize a BT in polynomial time, that is guaranteed to correctly execute the desired task. To illustrate the approach, we present three examples of increasing complexity.
Type Conference paper
URL http://www.cds.caltech.edu/~murray/preprints/cmo17-iros_s.pdf
Tag cmo17-iros
ID 2017e
Funding
Flags