Published September 20, 2012
| Submitted
Technical Report
Open
Patching task-level robot controllers based on a local µ-calculus formula
Chicago
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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.
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.Attached Files
Submitted - lpjm13-icra_s.pdf
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lpjm13-icra_s.pdf
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Additional details
- Eprint ID
- 34255
- Resolver ID
- CaltechCDSTR:2012.003
- Boeing Corporation
- Caltech Center for Mathematics of Information (CMI)
- United Technologies Research Center
- Created
-
2012-09-20Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Control and Dynamical Systems Technical Reports