Minimum-violation LTL planning with conflicting specifications
Original manuscript March 15, 2013
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/81823 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |
| _version_ | 1826205877425668096 |
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| author | Tumova, Jana Reyes Castro, Luis Ignacio Karaman, Sertac Frazzoli, Emilio Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Tumova, Jana Reyes Castro, Luis Ignacio Karaman, Sertac Frazzoli, Emilio Rus, Daniela L. |
| author_sort | Tumova, Jana |
| collection | MIT |
| description | Original manuscript March 15, 2013 |
| first_indexed | 2024-09-23T13:20:27Z |
| format | Article |
| id | mit-1721.1/81823 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:20:27Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/818232022-10-01T14:37:32Z Minimum-violation LTL planning with conflicting specifications Tumova, Jana Reyes Castro, Luis Ignacio Karaman, Sertac Frazzoli, Emilio Rus, Daniela L. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Reyes Castro, Luis Ignacio Karaman, Sertac Frazzoli, Emilio Rus, Daniela L. Original manuscript March 15, 2013 We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as “Vehicle x must eventually visit a target region and then return to a base,” “Regions A 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 due to their incompatibility and/or environmental constraints. We aim to find the least-violating control strategy while considering different priorities of satisfying different parts of the mission. Formally, we consider the missions given in the form of linear temporal logic formulas, each of which is assigned a reward that is earned when the formula is satisfied. Leveraging ideas from 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. United States. Air Force Office of Scientific Research (Michigan/AFRL Collaborative Center in Control Science Grant FA 8650-07-2-3744) National Science Foundation (U.S.) (Grant CNS-1016213) 2013-10-29T13:08:28Z 2013-10-29T13:08:28Z 2013-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-0178-4 http://hdl.handle.net/1721.1/81823 Tumova, Jana et al. "Minimum-violation LTL planning with conflicting specifications." IEEE American Control Conference, 2013. https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 en_US http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6579837 Proceedings of the 2013 American Control Conference (ACC) Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Tumova, Jana Reyes Castro, Luis Ignacio Karaman, Sertac Frazzoli, Emilio Rus, Daniela L. Minimum-violation LTL planning with conflicting specifications |
| title | Minimum-violation LTL planning with conflicting specifications |
| title_full | Minimum-violation LTL planning with conflicting specifications |
| title_fullStr | Minimum-violation LTL planning with conflicting specifications |
| title_full_unstemmed | Minimum-violation LTL planning with conflicting specifications |
| title_short | Minimum-violation LTL planning with conflicting specifications |
| title_sort | minimum violation ltl planning with conflicting specifications |
| url | http://hdl.handle.net/1721.1/81823 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |
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