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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. , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2012.003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 µ-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 resynthesis 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://resolver.caltech.edu/CaltechAUTHORS:20140724-131326509Related ItemPublished article
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 Information (CMI)UNSPECIFIED
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:24 Jul 2014 20:16

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