Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control
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.
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.Additional details
- Eprint ID
- 57849
- DOI
- 10.1109/TRO.2015.2414134
- Resolver ID
- CaltechAUTHORS:20150527-092235080
- STARnet
- Semiconductor Research Corporation Program
- Microelectronics Advanced Research Corporation (MARCO)
- Defense Advanced Research Projects Agency (DARPA)
- CNS-0953365
- NSF
- W911NF-07-1-0216
- Army Research Office (ARO)
- FP7-PEOPLE-2011-IRSES MEALS
- European Research Council
- Created
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2015-05-27Created from EPrint's datestamp field
- Updated
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2021-11-10Created from EPrint's last_modified field