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| Patching task-level robot controllers based on a local μ-calculus formula |
| Abstract |
We present a method for mending strategies … 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 âlocal strategyâ 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. ware for a planar robot surveillance task. +
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| Authors | Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray + |
| Funding | Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems + |
| ID | 2012m + |
| Source | 2013 International Conference on Robotics and Automation (ICRA) + |
| Tag | lpjm13-icra + |
| Title | Patching task-level robot controllers based on a local μ-calculus formula + |
| Type | Conference Paper + |
| Categories | Papers |
| Modification date This property is a special property in this wiki.
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15 May 2016 06:15:42 + |
| URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/lpjm13-icra.pdf + |
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| Patching task-level robot controllers based on a local μ-calculus formula + | Title |
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