Automated feedback for unachievable high-level robot behaviors
Automated feedback for unachievable high-level robot behaviors
复制标题
针对无法实现的高级机器人行为的自动反馈
DOI：
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复制
发表时间：
2012
期刊：
影响因子：
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通讯作者：
H. Kress
中科院分区：
文献类型：
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作者：
Vasumathi Raman;H. Kress
在机器人技术的主要挑战之一是自主的，高层次的机器人行为，包括一个非平凡的动作序列的控制器的生成。最近，形式化方法已经成为一个强大的工具，自动生成的自主机器人控制器，保证所需的行为表示的一类时序逻辑规范。然而，当不存在满足规范的控制器时，这些方法不向用户提供故障源，使得规范的故障排除成为非结构化且耗时的过程。在本文中，我们描述了一个程序，用于分析一个不可综合的规格，以确定失败的原因。我们还提供了一个交互式游戏，探索失败的可能原因，在其中用户试图履行机器人规格对敌对的环境。我们的方法是在机器人使命规划的LTLMoP工具包内实现的。
One of the main challenges in robotics is the generation of controllers for autonomous, high-level robot behaviors comprising a non-trivial sequence of actions. Recently, formal methods have emerged as a powerful tool for automatically generating autonomous robot controllers that guarantee desired behaviors expressed by a class of temporal logic specifications. However, when there is no controller that fulfills the specification, these approaches do not provide the user with a source of failure, making the troubleshooting of specifications an unstructured and time-consuming process. In this paper, we describe a procedure for analyzing an unsynthesizable specification to identify causes of failure. We also provide an interactive game for exploring possible causes of failure, in which the user attempts to fulfill the robot specification against an adversarial environment. Our approach is implemented within the LTLMoP toolkit for robot mission planning.