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Synthesis of Correct-by-Construction Behavior Trees
Abstract In this paper we study the problem of synt …
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.
t three examples of increasing complexity.  +
Authors Michele Colledanchise, Richard M. Murray, and Petter Ogren  +
ID 2017e  +
Source Submitted, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  +
Tag cmo17-iros  +
Title Synthesis of Correct-by-Construction Behavior Trees +
Type Conference paper  +
Categories Papers
Modification date
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23 July 2017 17:16:30  +
URL
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http://www.cds.caltech.edu/~murray/preprints/cmo17-iros_s.pdf  +
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Synthesis of Correct-by-Construction Behavior Trees + Title
 

 

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