Patching task-level robot controllers based on a local �µ-calculus formula

Livingston, Scott C. and Prabhakar, Pavithra and Jose, Alex B. and Murray, Richard M. (2012) Patching task-level robot controllers based on a local �µ-calculus formula. California Institute of Technology , Pasadena, CA. (Submitted) http://resolver.caltech.edu/CaltechCDSTR:2012.003

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Abstract

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 \mu-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 re-synthesis 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.

Item Type:

Report or Paper (Technical Report)

Additional Information:

This work is partially supported by the Boeing Corporation, the Caltech Center for the Mathematics of Information (CMI), and a United Technologies Research Center postdoctoral fellowship.

Group:

Control and Dynamical Systems Technical Reports

Funders:

Funding Agency	Grant Number
Boeing Corporation	UNSPECIFIED
Caltech Center for Mathematics of Information	UNSPECIFIED
United Technologies Research Center	UNSPECIFIED

Record Number:

CaltechCDSTR:2012.003

Persistent URL:

http://resolver.caltech.edu/CaltechCDSTR:2012.003

Usage Policy:

No commercial reproduction, distribution, display or performance rights in this work are provided.

ID Code:

34255

Collection:

CaltechCDSTR

Deposited By:

Scott Livingston

Deposited On:

20 Sep 2012 20:30

Last Modified:

26 Dec 2012 16:13

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