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Hot-swapping robot task goals in reactive formal synthesis |
Abstract |
We consider the problem of synthesizing ro … We consider the problem of synthesizing robot controllers to realize a task that unpredictably changes with time. Tasks are formally expressed in the GR(1) fragment of temporal logic, in which some of the variables are set by an adversary. The task changes by the addition or removal of goals, which occurs online (i.e., at run-time). We present an algorithm for mending control strategies to realize tasks after the addition of goals, while avoiding global re-synthesis of the strategy. Experiments are presented for a planar surveillance task in which new regions of interest are incrementally added. Run-times are empirically shown to be extremely favorable compared to re-synthesizing from scratch. We also present an algorithm for mending control strategies for the removal of goals. While in this setting the original strategy is still feasible (as we prove), our algorithm provides a more satisfying solution by âtightening loose ends.â Both algorithms are shown to yield so-called reach annotations, and thus the control strategies are easily amenable to other algorithms concerning incremental synthesis, e.g., as in previous work by the authors for robot navigation in uncertain environments. obot navigation in uncertain environments. +
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Authors | Scott C. Livingston and Richard M. Murray + |
ID | 2014d + |
Source | Submitted, 2014 Conference on Decision and Control (CDC) + |
Tag | lm+14-cdc + |
Title | Hot-swapping robot task goals in reactive formal synthesis + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:14:53 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/lm14-cdc_s.pdf + |
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Hot-swapping robot task goals in reactive formal synthesis + | Title |
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