Robotics: Science and Systems VIII 2012
DOI: 10.15607/rss.2012.viii.048
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Abstract: Abstract-This paper presents an approach for automatically synthesizing and re-synthesizing a hybrid controller that guarantees a robot will exhibit a user-defined high-level behavior while exploring a partially known workspace (map).The approach includes dynamically adjusting the discrete abstraction of the workspace as new regions are detected by the robot's sensors, automatically rewriting the specification (formally defined using Linear Temporal Logic) and re-synthesizing the control while preserving the r… Show more

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Cited by 23 publications
(28 citation statements)
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“…LTLMoP contains an approach [23] to guarantee highlevel behavior for map exploration when the environment is continuously updated. The approach synthesizes and resynthesizes plans, expressed in linear temporal logic, of a hybrid controller, when new map information is discovered.…”
Section: Related Workmentioning
confidence: 99%
“…LTLMoP contains an approach [23] to guarantee highlevel behavior for map exploration when the environment is continuously updated. The approach synthesizes and resynthesizes plans, expressed in linear temporal logic, of a hybrid controller, when new map information is discovered.…”
Section: Related Workmentioning
confidence: 99%
“…But this suffers the same issue as having no environment model: the robot's belief may not correspond to what actually happens (due to environmental dynamics). Guo et al [21] and Sarid et al [22] both iteratively produce a correct by construction program as uncertain information becomes known. However, it's not possible with that approach to verify the program in advance.…”
Section: Discussionmentioning
confidence: 99%
“…Model-checking has been successfully applied to software verification [13]. For robot control, Linear Temporal Logic (LTL) is commonly used to specify behavior [22,11]. LTL formula are representable as Büchi Automata, which define finite state languages over infinite length strings.…”
Section: Related Workmentioning
confidence: 99%