Provably correct continuous control for high-level robot behaviors with actions of arbitrary execution durations

Raman, Vasumathi; Piterman, Nir; Kress-Gazit, Hadas

doi:10.1109/icra.2013.6631152

Cited by 23 publications

(16 citation statements)

References 12 publications

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“…For more details, the reader is referred to Bloem et al [4]. In contrast to older GR(1) synthesis literature, we also allow the next-time operator in liveness assumptions and guarantees, which has been shown to only require a minor change to the standard GR(1) synthesis procedure [14].…”

Section: Preliminariesmentioning

confidence: 98%

Resilience to intermittent assumption violations in reactive synthesis

Ehlers

Topcu

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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We consider the synthesis of reactive systems that are robust against intermittent violations of their environment assumptions. Such assumptions are needed to allow many systems that work in a larger context to fulfill their tasks. Yet, due to glitches in hardware or exceptional operating conditions, these assumptions do not always hold in the field. Manually constructed systems often exhibit error-resilience and can continue to work correctly in such cases. With the development cycles of reactive systems becoming shorter, and thus reactive synthesis becoming an increasingly suitable alternative to the manual design of such systems, automatically synthesized systems are also expected to feature such resilience.The framework for achieving this goal that we present in this paper builds on generalized reactivity(1) synthesis, a synthesis approach that is well-known to be scalable enough for many practical applications. We show how, starting from a specification that is supported by this synthesis approach, we can modify it in order to use a standard generalized reactivity(1) synthesis procedure to find error-resilient systems. As an added benefit, this approach allows exploring the possible trade-offs in error resilience that a system designer has to make, and to give the designer a list of all Pareto-optimal implementations.

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Section: Preliminariesmentioning

confidence: 98%

Resilience to intermittent assumption violations in reactive synthesis

Ehlers

Topcu

2014

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control

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“…We adopt a LTL encoding of a centralized multi-robot mission that is robust to the inherent variability in the duration of inter-region robot motion in continuous environments (Raman et al 2013). Let AP R = {π i α | R α ∈ R} be the set of Boolean propositions representing the workspace regions, such that π i α ∈ AP R is True when robot i is physically in R α for α ∈ [1, .…”

Section: Ltl Encoding For Multi-robot Tasksmentioning

confidence: 99%

“…A proposition π ∈ AP is True at time t > 0 iff π ∈ AP is True at t + T . (Raman et al 2013)] A task encoding that admits arbitrary controller execution durations is…”

Section: Ltl Encoding For Multi-robot Tasksmentioning

confidence: 99%

Reactive mission and motion planning with deadlock resolution avoiding dynamic obstacles

Alonso–Mora

DeCastro

Raman³

et al. 2017

Auton Robot

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In the near future mobile robots, such as personal robots or mobile manipulators, will share the workspace with other robots and humans. We present a method for mission and motion planning that applies to small teams of robots performing a task in an environment with moving obstacles, such as humans. Given a mission specification written in linear temporal logic, such as patrolling a set of rooms, we synthesize an automaton from which the robots can extract valid strategies. This centralized automaton is executed by the robots in the team at runtime, and in conjunction with a distributed motion planner that guarantees avoidance of moving obstacles. Our contribution is a correctby-construction synthesis approach to multi-robot mission planning that guarantees collision avoidance with respect to moving obstacles, guarantees satisfaction of the mission specification and resolves encountered deadlocks, where a moving obstacle blocks the robot temporally. Our method provides conditions under which deadlock will be avoided by identifying environment behaviors that, when encountered at runtime, may prevent the robot team from achieving its goals. In particular, (1) it identifies deadlock conditions; (2) it is able to check whether they can be resolved; and (3) the robots implement the deadlock resolution policy locally in a distributed manner. The approach is capable of synthesizing and executing plans even with a high density of dynamic obstacles. In contrast to many existing approaches to mission and motion planning, it is scalable with the number of moving obstacles. We demonstrate the approach in physical experiments with walking humanoids moving in 2D environments and in simulation with aerial vehicles (quadrotors) navigating in 2D and 3D environments.

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“…This variant uses a technique inspired by Raman et al [20] to synthesize a reactive controller for continuous control. The setting requires the controller to be aware whether actions have completed or not.…”

Section: V2continuousmentioning

confidence: 99%

“…The second variant applies a method inspired by Raman et al [20] for continuous control. The main idea is to add a new variable for every action which signals completion of the action.…”

Section: V2continuous: Assumptions and Guaranteesmentioning

confidence: 99%

Synthesizing a Lego Forklift Controller in GR(1): A Case Study

Maoz

Ringert

2016

Electron. Proc. Theor. Comput. Sci.

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Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial symbolic algorithm. We conducted a case study to learn about the challenges that software engineers may face when using GR(1) synthesis for the development of a reactive robotic system. In the case study we developed two variants of a forklift controller, deployed on a Lego robot. The case study employs LTL specification patterns as an extension of the GR(1) specification language, an examination of two specification variants for execution scheduling, traceability from the synthesized controller to constraints in the specification, and generated counter strategies to support understanding reasons for unrealizability. We present the specifications we developed, our observations, and challenges faced during the case study.

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Provably correct continuous control for high-level robot behaviors with actions of arbitrary execution durations

Cited by 23 publications

References 12 publications

Resilience to intermittent assumption violations in reactive synthesis

Resilience to intermittent assumption violations in reactive synthesis

Reactive mission and motion planning with deadlock resolution avoiding dynamic obstacles

Synthesizing a Lego Forklift Controller in GR(1): A Case Study

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