Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic
Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic
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DOI：
10.1177/1729881419885697
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发表时间：
2019-11
影响因子：
2.3
通讯作者：
Shaurya Shriyam;Satyandra K. Gupta
中科院分区：
文献类型：
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作者：
Shaurya Shriyam;Satyandra K. Gupta
本文提出了一种使用时序逻辑评估应急解决策略的方法。我们提出了一个名义任务建模框架，然后指定应急解决策略并评估其对任务的有效性。我们的方法侧重于利用模型检查器在多机器人任务领域的使用来评估应急解决策略的充分性，以最大限度地减少突发事件对任务执行的不利影响。我们考虑具有确定性和概率性转变的任务。我们使用两个案例研究来展示我们的方法。我们考虑在可能同时发生多种突发事件的港口对船舶进行护航，并评估所提出的突发事件解决策略的充分性。我们还考虑了多个装配站协作创建产品的制造场景。在这种情况下，组装操作可能会失败，需要人工干预来完成组装过程。我们研究了几种不同的策略，并根据任务特征评估其有效性。
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.