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Minimum-violation LTL Planning with Conflicting Specifications
| Content Provider | Semantic Scholar |
|---|---|
| Author | Tumova, Jana Castro, Luis I. Reyes Karaman, Sertac Frazzoli, Emilio Rus, Daniela |
| Copyright Year | 2013 |
| Abstract | We consider the problem of automatic generation of control strategies for robotic vehicles given a set of hig hlevel mission specifications, such as “Vehicle x must eventually visit a target region and then return to a base,” “RegionsA and B must be periodically surveyed,” or “None of the vehicles can enter an unsafe region.” We focus on instances when all of the given specifications cannot be reached simultaneously d ue to their incompatibility and/or environmental constraint s. We aim to find the least-violating control strategy while consi dering different priorities of satisfying different parts of the m ission. Formally, we consider the missions given in the form of linea r temporal logic formulas, each of which is assigned a reward t hat is earned when the formula is satisfied. Leveraging ideas fro m the automata-based model checking, we propose an algorithm for finding an optimal control strategy that maximizes the sum of rewards earned if this control strategy is applied. We demonstrate the proposed algorithm on an illustrative case study . |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://dspace.mit.edu/bitstream/handle/1721.1/81823/Karaman_Minimum-violation%20LTL.pdf;jsessionid=133F2D8AA65CAF1360E8AEA81E8D5839?sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
