Synthesis of Correct-by-Construction Behavior Trees

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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
Tag cmo17-iros
ID 2017e