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Published September 20, 2012 | Version Submitted
Technical Report Open

Patching task-level robot controllers based on a local µ-calculus formula

Creators

Abstract

We present a method for mending strategies for GR(1) specifications. Given the addition or removal of edges from the game graph describing a problem (essentially transition rules in a GR(1) specification), we apply a µ-calculus formula to a neighborhood of states to obtain a "local strategy" that navigates around the invalidated parts of an original synthesized strategy. Our method may thus avoid global resynthesis while recovering correctness with respect to the new specification. We illustrate the results both in simulation and on physical hardware for a planar robot surveillance task.

Additional Information

This work is partially supported by the Boeing Corporation, the Caltech Center for the Mathematics of Information (CMI), and a United Technologies Research Center postdoctoral fellowship.

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Submitted - lpjm13-icra_s.pdf

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Additional details

Identifiers

Eprint ID
34255
Resolver ID
CaltechCDSTR:2012.003

Related works

Describes
http://resolver.caltech.edu/CaltechAUTHORS:20140724-131326509 (URL)

Funding

Boeing Corporation
Caltech Center for Mathematics of Information (CMI)
United Technologies Research Center

Dates

Created
2012-09-20
Created from EPrint's datestamp field
Updated
2019-10-03
Created from EPrint's last_modified field

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Caltech groups
Control and Dynamical Systems Technical Reports