Temporal verification of reactive systems: safety
Temporal verification of reactive systems: safety
Enhancing model checking in verification by AI techniques
Artificial Intelligence
Temporal Debugging for Concurrent Systems
TACAS '02 Proceedings of the 8th International Conference on Tools and Algorithms for the Construction and Analysis of Systems
Principles of Model Checking (Representation and Mind Series)
Principles of Model Checking (Representation and Mind Series)
Receding horizon control for temporal logic specifications
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Diagnostic information for realizability
VMCAI'08 Proceedings of the 9th international conference on Verification, model checking, and abstract interpretation
Model repair for probabilistic systems
TACAS'11/ETAPS'11 Proceedings of the 17th international conference on Tools and algorithms for the construction and analysis of systems: part of the joint European conferences on theory and practice of software
Does it pay to extend the perimeter of a world model?
FM'11 Proceedings of the 17th international conference on Formal methods
Analyzing unsynthesizable specifications for high-level robot behavior using LTLMoP
CAV'11 Proceedings of the 23rd international conference on Computer aided verification
Optimal path planning for surveillance with temporal-logic constraints*
International Journal of Robotics Research
Temporal-Logic-Based Reactive Mission and Motion Planning
IEEE Transactions on Robotics
| Hi-index | 0.00 |
We consider the problem of automatic control strategy synthesis, for discrete models of robotic systems, to fulfill a task that requires reaching a goal state while obeying a given set of safety rules. In this paper, we focus on the case when the said task is not feasible without temporarily violating some of the rules. We propose an algorithm that {synthesizes} a motion which violates only lowest priority rules for the shortest amount of time. Although the proposed algorithm can be applied in a variety of control problems, throughout the paper, we motivate this problem with an autonomous car navigating in an urban environment while abiding by the rules of the road, such as "always stay in the right lane" and "do not enter the sidewalk." We evaluate the algorithm on a case study with several illustrative scenarios.