On the minimal revision problem of specification automata

Kim, Kangjin; Fainekos, Georgios; Sankaranarayanan, Sriram

doi:10.1177/0278364915587034

Cited by 31 publications

(23 citation statements)

References 44 publications

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“…Finally, we provide some guidelines on how to handle infeasibility of each layer's subproblem. In layer 1, if the LTL specification ϕ is infeasible, specification revision methods [12] can be considered to find a new specification satisfiable by S Π and as close to ϕ as possible. In layer 2, if regions of interest π i , π j ∈ Π cannot be connected in P \Obs, the first abstraction layer S Π needs to be updated with the physical constraints: (π i , π j ) / ∈ δ Π and (π j , π i ) / ∈ δ Π .…”

Section: B Hierarchical Decomposition Of An Ltl Control Problemmentioning

confidence: 99%

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Meyer

Dimarogonas

2019

IEEE Trans. Automat. Contr.

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This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a topdown hierarchical decomposition of the control problem involving three abstraction layers of the problem, iteratively solved from the coarsest to the finest. The LTL planning is first solved on a small transition system only describing the regions of interest involved in the LTL formula. For each pair of consecutive regions of interest in the resulting accepting path satisfying the LTL formula, a discrete plan is then constructed in the partitioned workspace to connect these two regions while avoiding unsafe regions. Finally, an abstraction refinement approach is applied to synthesize a controller for the dynamical system to follow each discrete plan. The second main contribution, used in the third abstraction layer, is a new monotonicity-based method to overapproximate the finite-time reachable set of any continuously differentiable system. The proposed framework is demonstrated in simulation for a motion planning problem of a mobile robot modeled as a disturbed unicycle.

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Section: B Hierarchical Decomposition Of An Ltl Control Problemmentioning

confidence: 99%

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Meyer

Dimarogonas

2019

IEEE Trans. Automat. Contr.

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“…Tumova et al [9] studied the problem of planning over a finite horizon with prioritized safety requirements, where the goal is to synthesize a least-violating control strategy. Kim et al [10] studied a similar problem for the case of infinite-horizon temporal logic planning, which seeks to revise an inconsistent specification, minimizing the cost of revision with respect to costs for atomic propositions provided by the specifier. Lahijanian et al [11] describe a method for computing optimal plans for co-safe LTL specifications, where optimality is again with respect to the cost of violating each atomic proposition, which is provided by the user.…”

Section: Related Workmentioning

confidence: 99%

Reactive synthesis with maximum realizability of linear temporal logic specifications

2019

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A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties of systems. In applications in which the specifications originate from various aspects of the system design, or consist of a large set of formulas, the overall system specification may be unrealizable. Driven by this fact, we develop an optimization variant of synthesis from LTL formulas, where the goal is to design a controller that satisfies a set of hard specifications and minimally violates a set of soft specifications. To that end, we introduce a value function that, by exploiting the LTL semantics, quantifies the level of violation of properties. Inspired by the idea of bounded synthesis, we fix a bound on the implementation size and search for an implementation that is optimal with respect to the said value function. We propose a novel maximum satisfiability encoding of the search for an optimal implementation (within the given bound on the implementation size). We iteratively increase the bound on the implementation size until a termination criterion, such as a threshold over the value function, is met.

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“…Planning over a finite horizon with prioritized safety requirements was studied in [27], where the goal is to synthesize a least-violating control strategy. A similar problem for infinite-horizon temporal logic planning was studied in [15], which seeks to revise an inconsistent specification, minimizing the cost of revision with respect to costs for atomic propositions provided by the specifier. [19] describes a method for computing optimal plans for co-safe LTL specifications, where optimality is again with respect to the cost of violating each atomic proposition, which is provided by the user.…”

Section: Introductionmentioning

confidence: 99%

Maximum Realizability for Linear Temporal Logic Specifications

Dimitrova

Ghasemi

Topcu

2018

Lecture Notes in Computer Science

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Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications consists of an LTL formula describing the requirements on the behaviour of the system, together with a set of additional desirable properties. We study the synthesis problem in settings where the overall specification is unrealizable, more precisely, when some of the desirable properties have to be (temporarily) violated in order to satisfy the system's objective. We provide a quantitative semantics of sets of safety specifications, and use it to formalize the "besteffort" satisfaction of such soft specifications while satisfying the hard LTL specification. We propose an algorithm for synthesizing implementations that are optimal with respect to this quantitative semantics. Our method builds upon the idea of the bounded synthesis approach, and we develop a MaxSAT encoding which allows for maximizing the quantitative satisfaction of the safety specifications. We evaluate our algorithm on scenarios from robotics and power distribution networks.

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On the minimal revision problem of specification automata

Cited by 31 publications

References 44 publications

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Hierarchical Decomposition of LTL Synthesis Problem for Nonlinear Control Systems

Reactive synthesis with maximum realizability of linear temporal logic specifications

Maximum Realizability for Linear Temporal Logic Specifications

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