Download:
|
by C Fl Ying Zhang, Ying Zhang, Ying Zhang, Alan K. Mackworth, Alan K. Mackworth, Alan K. Mackworth
In Proc. Artificial Intelligence 94, 255
ftp://ftp.cs.ubc.ca/ftp/local/techreports/1992/TR-92-31.ps.gz
Add To MetaCart
Abstract:
Constraint Nets have been developed as an algebraic on-line computational model of robotic systems. A robotic system consists of a robot and its environment. A robot consists of a plant and a controller. A constraint net is used to model the dynamics of each component and the complete system. The overall behavior of the system emerges from the coupling of each of its components. The question posed in the title is decomposed into two questions: first, what is the right thing? second, how does one guarantee the robot will do it? We answer these questions by establishing a formal approach to the specification and verification of robotic behaviors. In particular, we develop a real-time temporal logic for the specification of behaviors and a new verification method, based on timed 8-automata, for showing that the constraint net model of a robotic system satisfies the specification of a desired global behavior of the system. Since the constraint net model of the controller can also serve as the on-line controller of the real plant, this is a practical way of building well-behaved robots. Running examples of a coordinator for a two-handed robot performing an assembly task and a reactive maze traveler illustrate the approach.
Citations
|
1345
|
A.: The Temporal Logic of Reactive and Concurrent Systems
– Manna, Pnueli
- 1992
|
|
967
|
Intelligence without representation
– Brooks
- 1991
|
|
910
|
Temporal and modal logic
– Emerson
- 1990
|
|
737
|
The temporal logic of actions
– Lamport
- 1994
|
|
682
|
Towards a general theory of action and time
– Allen
- 1984
|
|
623
|
Agent-oriented programming
– Shoham
- 1993
|
|
387
|
Automata on infinite objects
– Thomas
- 1990
|
|
249
|
A temporal logic for reasoning about processes and plans
– McDermott
- 1982
|
|
189
|
A really temporal logic
– Alur, Henzinger
|
|
189
|
Plaice, “LUSTRE: A declarative language for programming synchronous systems
– Caspi, Pilaud, et al.
- 1987
|
|
168
|
Temporal logic can be more expressive
– Wolper
- 1983
|
|
165
|
Reasoning about change
– Shoham
- 1988
|
|
112
|
Gedanken-experiments on sequential machines
– Moore
- 1956
|
|
97
|
Temporal Logic for Real-Time Systems
– Ostroff
- 1989
|
|
65
|
Hybrid dynamical systems theory and the SIGNAL language
– Benveniste, Guernic
- 1990
|
|
47
|
A method for synthesizing sequential circuits
– Mealy
- 1955
|
|
40
|
Do the right thing: studies in limited rationality
– Russell, Wefald
- 1991
|
|
31
|
Specification and verification of concurrent programs by 8-automata
– Manna, Pnueli
- 1987
|
|
25
|
Mathematical theory of the differential analyzer
– Shannon
- 1941
|
|
19
|
Constraint Nets: A semantic model for hybrid dynamic systems
– Zhang, Mackworth
- 1995
|
|
16
|
Dataflow and eduction: Data-driven and demand-driven distributed computation
– Ashcroft
- 1986
|
|
16
|
Formal theories of knowledge
– Rosenschein
- 1985
|
|
16
|
Constraint programming in constraint nets
– Zhang, Mackworth
- 1995
|
|
13
|
A Foundation for the Design and Analysis of Robotic Systems and Behaviors
– Zhang
- 1994
|
|
10
|
Specification and verification of constraint-based dynamic systems
– Zhang, Mackworth
- 1994
|
|
10
|
Constraint nets: A semantic model for realtime embedded systems
– Zhang, Mackworth
- 1992
|
|
8
|
Temporal automata
– Lavignon, Shoham
- 1990
|
|
8
|
Design and analysis of embedded real-time systems: An elevator case study
– Zhang, Mackworth
- 1993
|
|
1
|
Specification and verification of discrete dynamic systems using timed 8-automata
– Zhang, Mackworth
- 1994
|
