Article: DeCastro, JA; Kress-Gazit, H; (2015) “Synthesis of Nonlinear Continuous Controllers for Verifiably Correct High-level, Reactive Behaviors”, International Journal of Robotics Research, 34(3):378-394
Abstract: Planning robotic missions in environments shared by humans involves designing controllers that are reactive to the environment yet able to fulfill a complex high-level task. This paper introduces a new method for designing low-level controllers for nonlinear robotic platforms
based on a discrete-state high-level controller encoding the behaviors of a reactive task specification. We build our method upon a new type of
trajectory constraint which we introduce in this paper, reactive composition, to provide the guarantee that any high-level reactive
behavior may be fulfilled at any moment during the continuous execution. We generate pre-computed motion controllers in a piecewise manner by adopting a sample-based synthesis method that associates a certificate of invariance with each controller in the sample set. As a demonstration
of our approach, we simulate different robotic platforms executing complex tasks in a variety of environments.
Funding Acknowledgement:
NSF Expeditions in Computing project ExCAPE: Expeditions in Computer Augmented Program Engineering [CCF-1138996]
Funding Text:
This work was supported by the NSF Expeditions in Computing project ExCAPE: Expeditions in Computer Augmented Program Engineering (grant number CCF-1138996).
How can i get more details on this?
I would suggest perhaps contacting the authors. Hadas Kress-Gazit can be contacted at hk478@cornell.edu.