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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 (Unpublished)

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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)
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URLURL TypeDescription ItemPublished article
Murray, Richard M.0000-0002-5785-7481
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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
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Boeing CorporationUNSPECIFIED
Caltech Center for Mathematics of Information (CMI)UNSPECIFIED
United Technologies Research CenterUNSPECIFIED
Record Number:CaltechCDSTR:2012.003
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:34255
Deposited By: Scott Livingston
Deposited On:20 Sep 2012 20:30
Last Modified:03 Oct 2019 04:17

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