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Online Horizon Selection in Receding Horizon Temporal Logic Planning

Raman, Vasumathi; Fält, Mattias LU ; Wongpiromsarn, Tichakorn and Murray, Richard M. (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 In , 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p.3493-3499
Abstract
Temporal logics have proven effective for correct-by-construction synthesis of controllers for a wide range of robotic applications. 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 goal. 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. This is achieved by allowing each short horizon to have multiple local goals, and determining which local goal to pursue based on the current global goal, the currently perceived environment and a... (More)
Temporal logics have proven effective for correct-by-construction synthesis of controllers for a wide range of robotic applications. 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 goal. 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. This is achieved by allowing each short horizon to have multiple local goals, and determining which local goal to pursue based on the current global goal, the currently perceived environment and a pre-computed invariant dependent on the global goal. We demonstrate the utility of this additional flexibility in grant-response tasks, using a search-and-rescue example. Moreover, we show that these goal-dependent invariants mitigate the conservativeness of the receding horizon approach. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Formal Methods in Robotics and Automation, Reactive and Sensor-Based Planning, Task Planning
in
, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
pages
7 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
external identifiers
  • Scopus:84958176294
DOI
10.1109/IROS.2015.7353864
language
English
LU publication?
yes
id
82159bcf-1a72-43eb-a376-bf58fc3942da (old id 8167640)
date added to LUP
2015-11-11 10:00:08
date last changed
2016-10-13 05:12:44
@misc{82159bcf-1a72-43eb-a376-bf58fc3942da,
  abstract     = {Temporal logics have proven effective for correct-by-construction synthesis of controllers for a wide range of robotic applications. 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 goal. 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. This is achieved by allowing each short horizon to have multiple local goals, and determining which local goal to pursue based on the current global goal, the currently perceived environment and a pre-computed invariant dependent on the global goal. We demonstrate the utility of this additional flexibility in grant-response tasks, using a search-and-rescue example. Moreover, we show that these goal-dependent invariants mitigate the conservativeness of the receding horizon approach.},
  author       = {Raman, Vasumathi and Fält, Mattias and Wongpiromsarn, Tichakorn and Murray, Richard M.},
  keyword      = {Formal Methods in Robotics and Automation,Reactive and Sensor-Based Planning,Task Planning},
  language     = {eng},
  pages        = {3493--3499},
  publisher    = {ARRAY(0x5957a68)},
  series       = {, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title        = {Online Horizon Selection in Receding Horizon Temporal Logic Planning},
  url          = {http://dx.doi.org/ 10.1109/IROS.2015.7353864},
  year         = {2015},
}