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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. (2013) Patching task-level robot controllers based on a local µ-calculus formula. In: 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 4588-4595. ISBN 978-1-4673-5643-5. http://resolver.caltech.edu/CaltechAUTHORS:20140724-131326509

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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:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2013.6631229DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6631229PublisherArticle
http://resolver.caltech.edu/CaltechCDSTR:2012.003Related ItemTechnical report
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© Copyright 2013 IEEE. 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.
Funders:
Funding AgencyGrant Number
Boeing CorporationUNSPECIFIED
Caltech Center for the Mathematics of InformationUNSPECIFIED
United Technologies Research CenterUNSPECIFIED
Record Number:CaltechAUTHORS:20140724-131326509
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20140724-131326509
Official Citation:Livingston, S.C.; Prabhakar, P.; Jose, AB.; Murray, R.M., "Patching task-level robot controllers based on a local μ-calculus formula," Robotics and Automation (ICRA), 2013 IEEE International Conference on , vol., no., pp.4588,4595, 6-10 May 2013 doi: 10.1109/ICRA.2013.6631229
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:47469
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:24 Jul 2014 21:51
Last Modified:18 Mar 2015 22:51

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