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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 “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.
ware for a planar robot surveillance task.  +
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
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15 May 2016 06:15:42  +
URL
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http://www.cds.caltech.edu/~murray/preprints/lpjm13-icra.pdf  +
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