Valet parking without a valet

Conner, David C.; Kress-Gazit, Hadas; Choset, Howie; Rizzi, Alfred A.; Pappas, George J.

doi:10.1109/iros.2007.4399374

Cited by 64 publications

(36 citation statements)

References 14 publications

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“…This paper focuses on the first step of the approach described in Section 3, the translation of the language to the logic, and does not elaborate on other aspects of this method. Real-world robotics issues such as dealing with complex dynamics, non-holonomic constraints and control robustness were addressed in Refs [22,23] and are active research directions as is dealing with sensor noise and uncertainty.…”

Section: Discussionmentioning

confidence: 99%

Translating Structured English to Robot Controllers

2008

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Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.

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Section: Discussionmentioning

confidence: 99%

Translating Structured English to Robot Controllers

2008

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“…For example, a continuous-time, timeinvariant model was considered in [11], [12] and [13] for special cases of fully actuated (ṡ(t) = u(t)), kinematic (ṡ(t) = A(s(t))u(t)) and piecewise affine dynamics, respectively, while a discrete-time, time-invariant model was considered in [6] and [14] for special cases of piecewise affine and controllable linear systems, respectively. Discretetime linear time-invariant state space model with exogenous disturbances was considered in [15], [16].…”

Section: A Finite State Abstraction Of Continuous Systemsmentioning

confidence: 99%

Synthesis of provably correct controllers for autonomous vehicles in urban environments

Wongpiromsarn

Karaman

2011

2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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Abstract-This paper considers automatic synthesis of provably correct controllers for autonomous vehicles operating in an urban environment populated with static obstacles and live traffic. We express traffic rules such as collision avoidance, vehicle separation, speed limit, lane following, passing, merging and intersection precedence requirements in a formal specification language. Embedded control software synthesis is then applied to generate a controller that ensures that the vehicle obeys this set of traffic rules in any road and traffic conditions that satisfy certain assumptions.

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“…GR(1) games have been applied in numerous settings such as hardware design [4], high-level strategies for selfadaptive systems [15], [5], robot-controller planning [11], [21], [24], [25], [40] and user programming [26], [27]. In addition, many tools for solving GR(1) games have been developed [22], [38], [2], [16] showing that there is real interest in the application of games with GR(1) winning conditions.…”

Section: Introductionmentioning

confidence: 99%

2½-player generalized reactivity (1) games

Rodrı́guez

Braberman

D’Ippolito

et al. 2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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Abstract-We introduce a new class of 2 1 /2-player games, the 2 1 /2-player GR(1) games, that allows for solving problems of stochastic nature by adding a probabilistic component to simple 2-player GR(1) games. Further, we present an efficient approach for solving qualitative 2 1 /2-player GR(1) games with polynomial-time complexity. Our approach is based on a reduction from 2 1 /2-player GR(1) games to 2-player GR(1) games that allows for solving the game and constructing, from a sure winning strategy for player 2 (resp. 3) in a 2-player GR (1) game, an almost-sure (resp. positively) winning strategy for its corresponding 2 1 /2-player GR(1) game. Key to the effectiveness of the proposed approach is the fact that the reduction generates a 2-player game that is linearly larger than the original 2 1 /2-player game, more precisely, it is linear with respect to the number of probabilistic states in the 2 1 /2-player GR(1) game.

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Valet parking without a valet

Cited by 64 publications

References 14 publications

Translating Structured English to Robot Controllers

Translating Structured English to Robot Controllers

Synthesis of provably correct controllers for autonomous vehicles in urban environments

2½-player generalized reactivity (1) games

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