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MAE Publications and Papers

Sibley School of Mechanical and Aerospace Engineering

New article: Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control

Article: Raman, V; Piterman, N; Finucane, C; Kress-Gazit, H; (2015)  “Timing Semantics for Abstraction and Execution of Synthesized High-Level Robot Control”, IEEE Transactions on Robotics, 31 (3):591-604

DOI

Abstract:  The use of formal methods for synthesis has recently enabled the automated construction of verifiable high-level robot control. Most approaches use a discrete abstraction of the underlying continuous domain, and make assumptions about the physical execution of actions given a discrete implementation; examples include when actions will complete relative to each other, and possible changes in the robot’s environment while it is performing various actions. Relaxing these assumptions give rise to a number of challenges during the continuous implementation of automatically synthesized hybrid controllers. This paper presents several distinct timing semantics for controller synthesis, and compares them with respect to the assumptions they make on the execution of actions. It includes a discussion of when each set of assumptions is reasonable, and the computational tradeoffs inherent in relaxing them at synthesis time.

Funding Acknowledgement:  STARnet, a Semiconductor Research Corporation Program; MARCO and DARPA; NSF [CNS-0953365]; ARO MURI [W911NF-07-1-0216]; NSF ExCAPE; [FP7-PEOPLE-2011-IRSES]

Funding Text:  The work of V. Raman was supported by STARnet, a Semiconductor Research Corporation Program, supported by MARCO and DARPA. The work of C. Finucane and H. Kress-Gazit were supported by NSF CAREER CNS-0953365, ARO MURI (SUBTLE) W911NF-07-1-0216, and NSF ExCAPE. The work of N. Piterman was supported by FP7-PEOPLE-2011-IRSES MEALS.

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