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Synthesis of correct-by-construction behavior trees

Colledanchise, Michele and Murray, Richard M. and Ögren, Petter (2017) Synthesis of correct-by-construction behavior trees. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 6039-6046. ISBN 978-1-5386-2683-2. https://resolver.caltech.edu/CaltechAUTHORS:20180119-083614257

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Abstract

In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admissible environment specifications, an agent model in form of a Finite Transition System and the desired task in form of an LTL formula, we synthesize a BT in polynomial time, that is guaranteed to correctly execute the desired task. To illustrate the approach, we present three examples of increasing complexity.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2017.8206502DOIArticle
http://ieeexplore.ieee.org/document/8206502/PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2017 IEEE. Date Added to IEEE Xplore: 14 December 2017. This work has been supported by the SARAFun project, partially funded by the EU within H2020-ICT-2014. We thank Ioannis Filippidis for his valuable input into this paper.
Funders:
Funding AgencyGrant Number
European UnionH2020-ICT-2014
Record Number:CaltechAUTHORS:20180119-083614257
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180119-083614257
Official Citation:M. Colledanchise, R. M. Murray and P. Ögren, "Synthesis of correct-by-construction behavior trees," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 6039-6046. doi: 10.1109/IROS.2017.8206502
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:84411
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:19 Jan 2018 17:45
Last Modified:03 Oct 2019 19:18

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