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Fully Observable Non-deterministic Planning as Assumption-Based Reactive Synthesis Nicolás D'Ippolito

Ndippolito@dc Ar, Natalia Rodríguez, Sebastian Sardina
2018 Journal of Artificial Intelligence Research   unpublished
First, we develop a declarative characterization of the standard "fairness" assumption on environments in non-deterministic planning, and show that strong-cyclic plans are correct solution concepts for  ...  We contribute to recent efforts in relating two approaches to automatic synthesis, namely, automated planning and discrete reactive synthesis.  ...  complements/completes the seminal work of Pistore and Traverso (2001) on non-deterministic fully observable planning; and (ii) providing an encoding of the assumption (and goal) that is suitable for  ... 
fatcat:47hwv462qzgzbf6kosk3tmg5le

Synthesis of Control Protocols for Autonomous Systems

Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray
2013 Unmanned Systems  
The correctness of the system is defined with respect to a given specification expressed as a formula in linear temporal logic to precisely describe the desired properties of the system.  ...  This article provides a review of control protocol synthesis techniques that incorporate methodologies from formal methods and control theory to provide correctness guarantee for different types of autonomous  ...  A procedure for computing the winning set also relies on computing the product of transition systems and finite automata as in the model-checking-based synthesis procedure, except that a non-deterministic  ... 
doi:10.1142/s2301385013500027 fatcat:tujfbkzeczdqbmv3yfyzrytcu4

Online horizon selection in receding horizon temporal logic planning

Vasumathi Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard M. Murray
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We propose a receding horizon algorithm for reactive synthesis that automatically determines a path to the currently pursued goal at runtime, responding as needed to nondeterministic environment behavior  ...  Receding horizon frameworks mitigate the computational intractability of reactive synthesis for temporal logic, but have thus far been limited by pursuing a single sequence of short horizon problems to  ...  The usual framing of the reactive synthesis problem requires planning for all possible environment behaviors.  ... 
doi:10.1109/iros.2015.7353864 dblp:conf/iros/RamanFWM15 fatcat:d2iw65v5bfdytiswt3jdsr7fhu

Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain [article]

Jonas Warnke, Abdulaziz Shamsah, Yingke Li, Ye Zhao
2020 arXiv   pre-print
., a two-level navigation planner, employs linear temporal logic for a reactive game synthesis between the robot and its environment while incorporating low-level safe keyframe policies into formal task  ...  This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees.  ...  Belief Space Planning in Partial Observable Environment The navigation planner above synthesizes a reactive, safe game strategy that is always winning in a fully observable environment.  ... 
arXiv:2009.05168v1 fatcat:n7zfgkvkhzbw7ebdfe2p2zabo4

Synthesis of Reactive Switching Protocols From Temporal Logic Specifications

Jun Liu, Necmiye Ozay, Ufuk Topcu, Richard M. Murray
2013 IEEE Transactions on Automatic Control  
Such approximations allow us to transform the continuous switching synthesis problem into a discrete synthesis problem in the form of a two-player game between the system and the environment, where the  ...  By construction, existence of a discrete switching strategy for the discrete synthesis problem guarantees the existence of a switching protocol that can be implemented at the continuous level to ensure  ...  The Temporal Logic Planning (TuLiP) Toolbox, a collection of Python-based code for automatic synthesis of correct-by-construction embedded control software as discussed in [45] provides an interface  ... 
doi:10.1109/tac.2013.2246095 fatcat:4hbk7xvphzbmjnqz3e4nrxclru

Automata-Theoretic Foundations of FOND Planning for LTLf and LDLf Goals

Giuseppe De Giacomo, Sasha Rubin
2018 Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence  
We study planning for LTLf and LDLf temporally extended goals in nondeterministic fully observable domains (FOND).  ...  We consider both strong and strong cyclic plans, and develop foundational automata-based techniques to deal with both cases.  ...  Reactive Synthesis is a problem that is deeply related to planning in fully observable nondeterministic domains.  ... 
doi:10.24963/ijcai.2018/657 dblp:conf/ijcai/GiacomoR18 fatcat:uocg6yhxuffy7nmtvzpn2ti5wu

Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments [article]

Abdulaziz Shamsah, Jonas Warnke, Zhaoyuan Gu, Ye Zhao
2021 arXiv   pre-print
The motion planner employs the ROM to design safety criteria and a sampling algorithm to generate non-periodic motion plans that accurately track high-level actions.  ...  The high-level task planner employs linear temporal logic (LTL) for a reactive game synthesis between the robot and its environment and provides a formal guarantee on navigation safety and task completion  ...  Belief Space Planning in A Partially Observable Environment The navigation planner above synthesizes a safe game strategy that is always winning but only in a fully observable environment.  ... 
arXiv:2110.12097v2 fatcat:xzdier4yqnfo7ahjgapsv2sv5y

Deliberation for autonomous robots: A survey

Félix Ingrand, Malik Ghallab
2017 Artificial Intelligence  
The following five deliberation functions are identified and analyzed: planning, acting, monitoring, observing, and learning.  ...  Deliberation is meant to endow a robotic system with extended, more adaptable and robust functionalities, as well as reduce its deployment cost.  ...  RFF [206] generates an initial deterministic plan, then it considers a fringe state along a non-deterministic branch of that plan and, as long as the probability to reach that state is above some threshold  ... 
doi:10.1016/j.artint.2014.11.003 fatcat:e3b5lxppsje6pndmudxqtnzedy

Reactive Supervisory Control of Open Discrete-event Systems [article]

Alireza Partovi, Hai Lin
2019 arXiv   pre-print
Furthermore, illustrative examples are given throughout this paper to demonstrate the key definitions and the effectiveness of the proposed reactive supervisor synthesis framework.  ...  Starting from a novel input-output automaton model of an open system, we consider control objectives that characterize the desired input-output behaviors of the system, based on which a game-theoretic  ...  Problem 1: Given a non-empty regular reactive specification K ⊆ L io,m (P), uncontrolled deterministic open DES P, and control pattern set Θ, synthesis a non-blocking reactive supervisor S : His x (P)  ... 
arXiv:1804.00037v4 fatcat:tz7iupsprzb3nbdkhxfn2tmiuy

GR(1) synthesis for LTL specification patterns

Shahar Maoz, Jan Oliver Ringert
2015 Proceedings of the 2015 10th Joint Meeting on Foundations of Software Engineering - ESEC/FSE 2015  
In this work we show that almost all of the 55 LTL specification patterns identified by Dwyer et al. can be expressed as assumptions and guarantees in the GR(1) fragment of LTL.  ...  The work is implemented in our reactive synthesis environment. It provides positive, promising evidence, for the potential feasibility of using reactive synthesis in practice.  ...  [16] can be expressed as assumptions and guarantees in the GR(1) fragment. Thus, we have indeed embedded the results of the translation into our reactive synthesis environment.  ... 
doi:10.1145/2786805.2786824 dblp:conf/sigsoft/MaozR15 fatcat:7ury6qrl7rg2pnofpox24f7s3e

Verification of Networks of Smart Energy Systems over the Cloud [chapter]

Alessandro Abate
2017 Lecture Notes in Computer Science  
, error-based refinements, and the use of interface functions for the synthesis of abstract controllers and their concrete implementation.  ...  alternative solutions based on classical analytical techniques or on approximate computations are prone to errors with global repercussions, and instead propose an approach based on formal abstractions  ...  As such, references are limited to own work. The author would like to thank former and current students involved in this specific area of work, particularly Sofie Haesaert, Sadegh E.S.  ... 
doi:10.1007/978-3-319-54292-8_1 fatcat:h6uu3iojxvh45k6sorpxgse7tq

Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations [article]

Tichakorn Wongpiromsarn, Konstantin Slutsky, Emilio Frazzoli, Ufuk Topcu
2020 arXiv   pre-print
We then introduce a class of temporal logic formulas called si-FLTL_𝖦_𝖷 and develop an efficient, incremental sampling-based approach to solve this minimum-violation planning problem with guarantees  ...  The optimality is defined based on the violation of such prioritized safety specifications.  ...  As opposed to reactive and probabilistic synthesis, minimum-violation planning considers a deterministic system and relies on realtime re-planning to respond to quickly changing environments.  ... 
arXiv:2009.11954v1 fatcat:lt7hbfquvfbbdoy3llzaim24xq

Supervisory control and reactive synthesis: a comparative introduction

Rüdiger Ehlers, Stéphane Lafortune, Stavros Tripakis, Moshe Y. Vardi
2016 Discrete event dynamic systems  
The reduction is for fully-observed systems that are controlled by a single supervisor/controller.  ...  After presenting general introductions to supervisory control theory and reactive synthesis, we provide a novel reduction of the basic supervisory control problem, non-blocking case, to a problem of reactive  ...  This will provide a proof of Theorem 1 that is self-contained. state is not blocking, therefore a supervisor exists and is defined as follows: S(x 0 ) = {u, c 1 }, S(x 1 ) = S(x 2 ) = {u, c 1 , c 2 },  ... 
doi:10.1007/s10626-015-0223-0 fatcat:wmjlfw3nkvdhpoepywzay6dfhq

Spectra: a specification language for reactive systems

Shahar Maoz, Jan Oliver Ringert
2021 Journal of Software and Systems Modeling  
The collected specifications can serve as benchmarks for future studies on reactive synthesis.  ...  We present the specifications, with observations and lessons learned about the potential use of reactive synthesis by software engineers.  ...  We present the specifications the students wrote, with observations and lessons learned about the potential use of reactive synthesis by software engineers.  ... 
doi:10.1007/s10270-021-00868-z fatcat:okjmdffdxbdxdladfiaqztjqu4

Automatic behavior composition synthesis

Giuseppe De Giacomo, Fabio Patrizi, Sebastian Sardiña
2013 Artificial Intelligence  
within a shared, fully observable, but partially predictable (i.e., non-deterministic), environment.  ...  Observe that the target is meant to be deterministic, as it is assumed that the desired system is fully known. Example 1.  ...  Observe that the automaton encodes and accounts for the constraints of both the whole system and the client running the target,  ... 
doi:10.1016/j.artint.2012.12.001 fatcat:vyltawnjdjforlee7jf3doaxxu
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