ﻻ يوجد ملخص باللغة العربية
We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as Vehicle x must eventually visit a target region and then return to a base, Regions A and B must be periodically surveyed, or None of the vehicles can enter an unsafe region. We focus on instances when all of the given specifications cannot be reached simultaneously due to their incompatibility and/or environmental constraints. We aim to find the least-violating control strategy while considering different priorities of satisfying different parts of the mission. Formally, we consider the missions given in the form of linear temporal logic formulas, each of which is assigned a reward that is earned when the formula is satisfied. Leveraging ideas from the automata-based model checking, we propose an algorithm for finding an optimal control strategy that maximizes the sum of rewards earned if this control strategy is applied. We demonstrate the proposed algorithm on an illustrative case study.
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that become feasibl
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject t
This paper studies the controller synthesis problem for Linear Temporal Logic (LTL) specifications using (constrained) zonotope techniques. To begin with, we implement (constrained) zonotope techniques to partition the state space and further to veri
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To efficiently
Reactive synthesis is a key technique for the design of correct-by-construction systems and has been thoroughly investigated in the last decades. It consists in the synthesis of a controller that reacts to environments inputs satisfying a given tempo