Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic
This article presents an approach for assessing contingency resolution strategies using temporal logic. We present a framework for nominal mission modeling, then specifying contingency resolution strategies and evaluating their effectiveness for the mission. Our approach focuses on leveraging the us...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419885697 |
| _version_ | 1818059230931845120 |
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| author | Shaurya Shriyam Satyandra K Gupta |
| author_facet | Shaurya Shriyam Satyandra K Gupta |
| author_sort | Shaurya Shriyam |
| collection | DOAJ |
| description | This article presents an approach for assessing contingency resolution strategies using temporal logic. We present a framework for nominal mission modeling, then specifying contingency resolution strategies and evaluating their effectiveness for the mission. Our approach focuses on leveraging the use of model checkers to the domain of multi-robot missions to assess the adequacy of contingency resolution strategies that minimize the adverse effects of contingencies on the mission execution. We consider missions with deterministic as well as probabilistic transitions. We demonstrate our approach using two case studies. We consider the escorting of a ship in a port where multiple contingencies may occur concurrently and assess the adequacy of the proposed contingency resolution strategies. We also consider a manufacturing scenario where multiple assembly stations collaborate to create a product. In this case, assembly operations may fail, and human intervention is needed to complete the assembly process. We investigate several different strategies and assess their effectiveness based on mission characteristics. |
| first_indexed | 2024-12-10T13:13:14Z |
| format | Article |
| id | doaj.art-73706bf1a10943e6a9a0adb5b0c4f9ef |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T13:13:14Z |
| publishDate | 2019-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-73706bf1a10943e6a9a0adb5b0c4f9ef2022-12-22T01:47:36ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-11-011610.1177/1729881419885697Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logicShaurya ShriyamSatyandra K GuptaThis article presents an approach for assessing contingency resolution strategies using temporal logic. We present a framework for nominal mission modeling, then specifying contingency resolution strategies and evaluating their effectiveness for the mission. Our approach focuses on leveraging the use of model checkers to the domain of multi-robot missions to assess the adequacy of contingency resolution strategies that minimize the adverse effects of contingencies on the mission execution. We consider missions with deterministic as well as probabilistic transitions. We demonstrate our approach using two case studies. We consider the escorting of a ship in a port where multiple contingencies may occur concurrently and assess the adequacy of the proposed contingency resolution strategies. We also consider a manufacturing scenario where multiple assembly stations collaborate to create a product. In this case, assembly operations may fail, and human intervention is needed to complete the assembly process. We investigate several different strategies and assess their effectiveness based on mission characteristics.https://doi.org/10.1177/1729881419885697 |
| spellingShingle | Shaurya Shriyam Satyandra K Gupta Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic International Journal of Advanced Robotic Systems |
| title | Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic |
| title_full | Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic |
| title_fullStr | Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic |
| title_full_unstemmed | Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic |
| title_short | Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic |
| title_sort | modeling and verification of contingency resolution strategies for multi robot missions using temporal logic |
| url | https://doi.org/10.1177/1729881419885697 |
| work_keys_str_mv | AT shauryashriyam modelingandverificationofcontingencyresolutionstrategiesformultirobotmissionsusingtemporallogic AT satyandrakgupta modelingandverificationofcontingencyresolutionstrategiesformultirobotmissionsusingtemporallogic |