Artificial intelligence and mobile robots
Communication and Concurrency
Exploiting Implicit Representations in Timed Automaton Verification for Controller Synthesis
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Efficient on-the-fly algorithms for the analysis of timed games
CONCUR 2005 - Concurrency Theory
Interleaving temporal planning and execution in robotics domains
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Temporal dynamic controllability revisited
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Dynamic control of plans with temporal uncertainty
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A systematic agent framework for situated autonomous systems
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 2 - Volume 2
Analyzing Flexible Timeline-based Plans
Proceedings of the 2010 conference on ECAI 2010: 19th European Conference on Artificial Intelligence
Controllers with minimal observation power (application to timed systems)
ATVA'12 Proceedings of the 10th international conference on Automated Technology for Verification and Analysis
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Plans synthesized by Temporal Planning and Scheduling systems may be temporally flexible hence they identify an envelope of possible solutions. Such flexibility can be exploited by an executive systems for robust on-line execution. Recent works have addressed aspects of plan execution using a quite general approach grounded on formal modeling and formal methods. The present work extends such an approach by presenting the formal synthesis of a plan controller associated to a flexible temporal plan. In particular, the controller synthesis exploits Timed Game Automata (TGA) for formal modeling and UPPAAL-TIGA as a model checker. After presenting a formal extension, the paper introduces a detailed experimental analysis on a real-world case study that demonstrates the viability of the approach. In particular, it is shown how the controller synthesis overhead is compatible with the performance expected from a short-horizon planner.