EECI 2020: Minimum Violation Planning

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Lecture Materials

• Lecture slides

Further Reading

• Least-violating Control Strategy Synthesis with Safety Rules J. Tumova, G.C Hall, S. Karaman, E. Frazzoli and D. Rus, HSCC 2013. Detail on minimum violation planning for finite state systems.

• Incremental Sampling-based Algorithm for Minimum-violation Motion Planning L.I.R. Castro, P. Chaudhari, J. Tumova, S. Karaman, E. Frazzoli, D. Rus, CDC 2013. Incremental version of minimum violation planning.

• Incremental Synthesis of Minimum-Violation Control Strategies for Robots Interacting with External Agents P. Chaudhari, T. Wongpiromsarn and E. Frazzoli, ACC 2014. Multi-agent version of minimum violation planning.

• Sampling-based Algorithms for Optimal Motion Planning S. Karaman and E. Frazzoli, IJRR 2011. Sampling-based algorithms.

• Temporal debugging for concurrent systems E.L. Gunter and D. Peled, TACAS 2002. Detail on finite LTL and translation to finite automaton