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Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control

Raman, Vasumathi and Piterman, Nir and Finucane, Cameron and Kress-Gazit, Hadas (2015) Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control. IEEE Transactions on Robotics, 31 (3). pp. 591-604. ISSN 1552-3098. https://resolver.caltech.edu/CaltechAUTHORS:20150527-092235080

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Abstract

The use of formal methods for synthesis has recently enabled the automated construction of verifiable high-level robot control. Most approaches use a discrete abstraction of the underlying continuous domain, and make assumptions about the physical execution of actions given a discrete implementation; examples include when actions will complete relative to each other, and possible changes in the robot’s environment while it is performing various actions. Relaxing these assumptions give rise to a number of challenges during the continuous implementation of automatically synthesized hybrid controllers. This paper presents several distinct timing semantics for controller synthesis, and compares them with respect to the assumptions they make on the execution of actions. It includes a discussion of when each set of assumptions is reasonable, and the computational tradeoffs inherent in relaxing them at synthesis time.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/TRO.2015.2414134DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7111338PublisherArticle
Additional Information:© 2015 IEEE. March 10, 2015. Date of current version June 3, 2015. This paper was recommended for publication by Associate Editor I.-H. Suh and Editor C. Torras upon evaluation of this reviewer’s comments. The work of V. Raman was supported by STARnet, a Semiconductor Research Corporation Program, supported by MARCO and DARPA. The work of C. Finucane and H. Kress-Gazit were supported by NSF CAREER CNS-0953365, ARO MURI (SUBTLE) W911NF-07-1-0216, and NSF ExCAPE. The work of N. Piterman was supported by FP7-PEOPLE-2011-IRSES MEALS.
Funders:
Funding AgencyGrant Number
STARnetUNSPECIFIED
Semiconductor Research Corporation ProgramUNSPECIFIED
Microelectronics Advanced Research Corporation (MARCO)UNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
NSFCNS-0953365
Army Research Office (ARO)W911NF-07-1-0216
European Research CouncilFP7-PEOPLE-2011-IRSES MEALS
Subject Keywords:Formal methods, high-level behaviors, temporal logic synthesis
Issue or Number:3
Record Number:CaltechAUTHORS:20150527-092235080
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20150527-092235080
Official Citation:Raman, V.; Piterman, N.; Finucane, C.; Kress-Gazit, H., "Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control," Robotics, IEEE Transactions on , vol.PP, no.99, pp.1,14 doi: 10.1109/TRO.2015.2414134 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7111338&isnumber=4359257
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:57849
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 May 2015 17:31
Last Modified:03 Oct 2019 08:29

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