Correct , Reactive Robot Control from Abstraction and Temporal Logic Specifications
Correct , Reactive Robot Control from Abstraction and Temporal Logic Specifications
复制标题
根据抽象和时间逻辑规范进行正确的反应式机器人控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
H. Kress;T. Wongpiromsarn;U. Topcu
我们描述了从临时逻辑规范中正式合成机器人控制器的进展，我们考虑了反应性的规格，在这些规范中，机器人不断地收集有关其环境的信息，并根据此信息确定其行动。关于所有有效环境的规范，我们讨论了这种控制器综合的主要局限性 - 状态爆炸问题，并描述了实现这些方法的两种方法。整个论文中都将一个类似城市的环境用作说明性示例。
We describe recent advances in formal synthesis of robot controllers from temporal logic specifications. In particular, we consider reactive specifications where the robot continuously gathers information about its environment and decides its action at run time based on this information. The automatically generated controller is provably correct with respect to a given specification for all the valid environment behaviors. We discuss the main limitation of such controller synthesis – the state explosion problem – and two approaches that mitigate this problem. Computational tools that implement these approaches are also described. An autonomous vehicle navigating an urbanlike environment is used as an illustrative example throughout the paper.