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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)
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2013.6631229DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6631229PublisherArticle
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 AgencyGrant Number
Boeing CorporationUNSPECIFIED
Caltech Center for Mathematics of InformationUNSPECIFIED
United Technologies Research CenterUNSPECIFIED
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:27 Oct 2013 00:49

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