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146
Where’s waldo? sensorbased temporal logic motion planning
 in IEEE International Conference on Robotics and Automation, 2007
, 2007
"... Abstract — Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot b ..."
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Cited by 67 (9 self)
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Abstract — Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, resulting in a novel paradigm for sensorbased temporal logic motion planning. As one robot is part of the environment of another robot, our sensorbased framework very naturally captures multirobot specifications. Our computational approach is based on first creating discrete controllers satisfying socalled General Reactivity(1) formulas. If feasible, the discrete controller is then used in order to guide the sensorbased composition of continuous controllers resulting in a hybrid controller satisfying the high level specification, but only if the environment is admissible. Index Terms — Motion planning, temporal logics, sensorbased planning, controller synthesis, hybrid control.
Receding horizon control for temporal logic specifications.
 In 13th ACM international conference on Hybrid systems: computation and control,
, 2010
"... ABSTRACT In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consis ..."
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Cited by 61 (9 self)
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ABSTRACT In this paper, we describe a receding horizon framework that satisfies a class of linear temporal logic specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. The resulting embedded control software consists of a goal generator, a trajectory planner, and a continuous controller. The goal generator essentially reduces the trajectory generation problem to a sequence of smaller problems of short horizon while preserving the desired systemlevel temporal properties. Subsequently, in each iteration, the trajectory planner solves the corresponding shorthorizon problem with the currently observed state as the initial state and generates a feasible trajectory to be implemented by the continuous controller. Based on the simulation property, we show that the composition of the goal generator, trajectory planner and continuous controller and the corresponding receding horizon framework guarantee the correctness of the system. To handle failures that may occur due to a mismatch between the actual system and its model, we propose a response mechanism and illustrate, through an example, how the system is capable of responding to certain failures and continues to exhibit a correct behavior.
TemporalLogicBased Reactive Mission and Motion Planning
, 2009
"... This paper provides a framework to automatically generate a hybrid controller that guarantees that the robot can achieve its task when a robot model, a class of admissible environments, and a highlevel task or behavior for the robot are provided. The desired task specifications, which are expresse ..."
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Cited by 58 (11 self)
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This paper provides a framework to automatically generate a hybrid controller that guarantees that the robot can achieve its task when a robot model, a class of admissible environments, and a highlevel task or behavior for the robot are provided. The desired task specifications, which are expressed in a fragment of linear temporal logic (LTL), can capture complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, which results in a novel paradigm for sensorbased temporallogicmotion planning. As one robot is part of the environment of another robot, our sensorbased framework very naturally captures multirobot specifications in a decentralized manner. Our computational approach is based on first creating discrete controllers satisfying specific LTL formulas. If feasible, the discrete controller is then used to guide the sensorbased composition of continuous controllers, which results in a hybrid controller satisfying the highlevel specification but only if the environment is admissible.
Temporal logic motion planning for dynamic robots,”
 Automatica,
, 2009
"... Abstract In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like seque ..."
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Cited by 51 (13 self)
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Abstract In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law that enables the dynamic model to track a simpler kinematic model with a globally bounded error. Second, we built a robust temporal logic specification that takes into account the tracking errors of the first step. Finally, we solve the new robust temporal logic path planning problem for the kinematic model using automata theory and simple local vector fields. The resulting continuous time trajectory is provably guaranteed to satisfy the initial user specification.
Samplingbased motion planning with temporal goals
 IN IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010. PROCEEDINGS
, 2010
"... This paper presents a geometrybased, multilayered synergistic approach to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described over subsets of the workspace (called propositions) using temporal logic. A multilayered synergistic framework has ..."
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Cited by 49 (6 self)
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This paper presents a geometrybased, multilayered synergistic approach to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described over subsets of the workspace (called propositions) using temporal logic. A multilayered synergistic framework has been proposed recently for solving planning problems involving significant discrete structure. In this framework, a highlevel planner uses a discrete abstraction of the system and the exploration information to suggest feasible highlevel plans. A lowlevel samplingbased planner uses the physical model of the system, and the suggested highlevel plans, to explore the statespace for feasible solutions. In this paper, we advocate the use of geometry within the above framework to solve motion planning problems involving temporal goals. We present a technique to construct the discrete abstraction using the geometry of the obstacles and the propositions defined over the workspace. Furthermore, we show through experiments that the use of geometry results in significant computational speedups compared to previous work. Traces corresponding to trajectories of the system are defined employing the sampling interval used by the lowlevel algorithm. The applicability of the approach is shown for secondorder nonlinear robot models in challenging workspace environments with obstacles, and for a variety of temporal logic specifications.
Receding Horizon Temporal Logic Planning for Dynamical Systems
 In 48th IEEE Conference on Decision and Control (CDC) 2009
, 2009
"... Abstract—This paper bridges the advances in computer science and control to allow automatic synthesis of complex dynamical systems which are guaranteed, by construction, to satisfy the desired properties even in the presence of adversary. The desired properties are expressed in the language of tempo ..."
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Cited by 37 (7 self)
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Abstract—This paper bridges the advances in computer science and control to allow automatic synthesis of complex dynamical systems which are guaranteed, by construction, to satisfy the desired properties even in the presence of adversary. The desired properties are expressed in the language of temporal logic. With its expressive power, a wider class of properties than safety and stability can be specified. The resulting system consists of a discrete planner which plans, in the abstracted discrete domain, a set of transitions of the system to ensure the correct behaviors and a continuous controller which continuously implements the plan. For a system with certain structure, we present an approach, based on a receding horizon scheme, to overcome computational difficulties in the synthesis of a discrete planner and allow more complex problems to be solved. I.
Receding horizon temporal logic planning
 IEEE Transactions on Automatic Control
, 2012
"... Abstract We present a methodology for automatic synthesis of embedded control software that incorporates a class of linear temporal logic (LTL) specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. To alleviate th ..."
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Cited by 35 (11 self)
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Abstract We present a methodology for automatic synthesis of embedded control software that incorporates a class of linear temporal logic (LTL) specifications sufficient to describe a wide range of properties including safety, stability, progress, obligation, response and guarantee. To alleviate the associated computational complexity of LTL synthesis, we propose a receding horizon framework that effectively reduces the synthesis problem into a set of smaller problems. The proposed control architecture consists of a goal generator, a trajectory planner, and a continuous controller. The goal generator reduces the trajectory generation problem into a sequence of smaller problems of short horizon while preserving the desired systemlevel temporal properties. Subsequently, in each iteration, the trajectory planner solves the corresponding shorthorizon problem with the currently observed state as the initial state and generates a feasible trajectory to be implemented by the continuous controller. Based on the simulation property, we show that the composition of the goal generator, trajectory planner and continuous controller and the corresponding receding horizon framework guarantee the correctness of the system with respect to its specification regardless of the environment in which the system operates. In addition, we present a response mechanism to handle failures that may occur due to a mismatch between the actual system and its model. The effectiveness of the proposed technique is demonstrated through an example of an autonomous vehicle navigating an urban environment. This example also illustrates that the system is not only robust with respect to exogenous disturbances but is also capable of properly handling violation of the environment assumption that is explicitly stated as part of the system specification .
Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees
 in ICRA, 2010
"... Abstract — We present a computational framework for automatic deployment of a robot from a temporal logic specification over a set of properties of interest satisfied at the regions of a partitioned environment. We assume that, during the motion of the robot in the environment, the current region c ..."
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Cited by 32 (5 self)
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Abstract — We present a computational framework for automatic deployment of a robot from a temporal logic specification over a set of properties of interest satisfied at the regions of a partitioned environment. We assume that, during the motion of the robot in the environment, the current region can be precisely determined, while due to sensor and actuation noise, the outcome of a control action can only be predicted probabilistically. Under these assumptions, the deployment problem translates to generating a control strategy for a Markov Decision Process (MDP) from a temporal logic formula. We propose an algorithm inspired from probabilistic Computation Tree Logic (PCTL) model checking to find a control strategy that maximizes the probability of satisfying the specification. We illustrate our method with simulation and experimental results. I.
Reachability analysis of multiaffine systems
 In Hybrid Systems: Computation and Control, LNCS 3927
, 2006
"... Abstract We present a computationally attractive technique to study the reachability of rectangular regions by trajectories of continuous multiaffine systems. The method is iterative. At each step, finer partitions and finite quotients that overapproximate the reachability properties of the initi ..."
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Cited by 31 (4 self)
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Abstract We present a computationally attractive technique to study the reachability of rectangular regions by trajectories of continuous multiaffine systems. The method is iterative. At each step, finer partitions and finite quotients that overapproximate the reachability properties of the initial system are produced. We exploit some convexity properties of multiaffine functions on rectangles to show that the construction of the quotient at each step requires only the evaluation of the vector field at the set of all vertices of all rectangles in the partition and finding the roots of a finite set of scalar affine functions. This methodology can be used for formal analysis of biochemical networks, aircraft and underwater vehicles, where multiaffine models are widely used.
Valet parking without a valet
 In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems
, 2007
"... Abstract — What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This work demonstrates a method for generating continuous feedback control inputs that satisfy highlevel spec ..."
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Cited by 30 (8 self)
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Abstract — What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This work demonstrates a method for generating continuous feedback control inputs that satisfy highlevel specifications. Using a collection of continuous local feedback control policies in concert with a synthesized discrete automaton, this paper demonstrates the approach on an Ackermannsteered vehicle that satisfies the command “drive around until you find an empty parking space, then park. ” The system reacts to changing environmental conditions using only local information, while guaranteeing the correct high level behavior. The local policies consider the vehicle body shape as well as bounds on drive and steering velocities. The discrete automaton that invokes the local policies guarantees executions that satisfy the highlevel specification based only on information about the current availability of the nearest parking space. This paper also demonstrates coordination of two vehicles using the approach. I.