Title | ||
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Decoupled Formal Synthesis for Almost Separable Systems with Temporal Logic Specifications |
Abstract | ||
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We consider the problem of synthesizing controllers automatically for distributed robots that are loosely coupled using a formal synthesis approach. Formal synthesis entails construction of game strategies for a discrete transition system such that the system under the strategy satisfies a specification, given for instance in linear temporal logic (LTL). The general problem of automated synthesis for distributed discrete transition systems suffers from state-space explosion because the combined state-space has size exponential in the number of subsystems. Motivated by multi-robot motion planning problems, we focus on distributed systems whose interaction is nearly decoupled, allowing the overall specification to be decomposed into specifications for individual subsystems and a specification about the joint system. We treat specifically reactive synthesis for the GR(1) fragment of LTL. Each robot is subject to a GR(1) formula, and a safety formula describes constraints on their interaction. We propose an approach wherein we synthesize strategies independently for each subsystem; then we patch the separate controllers around interaction regions such that the specification about the joint system is satisfied. |
Year | DOI | Venue |
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2014 | 10.1007/978-4-431-55879-8_26 | Springer Tracts in Advanced Robotics |
Keywords | Field | DocType |
Reactive synthesis,LTL,Collision avoidance,Motion planning | Transition system,Motion planning,Formal synthesis,Exponential function,Computer science,Separable space,Linear temporal logic,Temporal logic,Robot,Distributed computing | Conference |
Volume | ISSN | Citations |
112 | 1610-7438 | 0 |
PageRank | References | Authors |
0.34 | 12 | 2 |
Name | Order | Citations | PageRank |
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Scott C. Livingston | 1 | 24 | 2.58 |
Pavithra Prabhakar | 2 | 219 | 25.69 |