Least-violating control strategy synthesis with safety rules

D 2013

Least-violating control strategy synthesis with safety rules

TŮMOVÁ, Jana, Gavin HALL, Sertac KARAMAN, Emilio FRAZZOLI, Daniela RUS et. al.

Základní údaje

Originální název

Least-violating control strategy synthesis with safety rules

Autoři

TŮMOVÁ, Jana (203 Česká republika, garant, domácí), Gavin HALL (840 Spojené státy), Sertac KARAMAN (840 Spojené státy), Emilio FRAZZOLI (840 Spojené státy) a Daniela RUS (840 Spojené státy)

Vydání

New York, NY, USA, Proceedings of the 16th international conference on Hybrid systems: computation and control, od s. 1-10, 10 s. 2013

Nakladatel

ACM

Další údaje

Jazyk

angličtina

Typ výsledku

Stať ve sborníku

Obor

10201 Computer sciences, information science, bioinformatics

Stát vydavatele

Spojené státy

Utajení

není předmětem státního či obchodního tajemství

Forma vydání

tištěná verze "print"

Kód RIV

RIV/00216224:14330/13:00071898

Organizační jednotka

Fakulta informatiky

ISBN

978-1-4503-1567-8

DOI

http://dx.doi.org/10.1145/2461328.2461330

Klíčová slova anglicky

control strategy synthesis; temporal logic; formal methods; least-violating planning; robot path planning

Štítky

firank_B

Příznaky

Mezinárodní význam, Recenzováno

Změněno: 30. 4. 2014 09:00, RNDr. Pavel Šmerk, Ph.D.

Anotace

V originále

We consider the problem of automatic control strategy synthesis, for discrete models of robotic systems, to fulfill a task that requires reaching a goal state while obeying a given set of safety rules. In this paper, we focus on the case when the said task is not feasible without temporarily violating some of the rules. We propose an algorithm that {synthesizes} a motion which violates only lowest priority rules for the shortest amount of time. Although the proposed algorithm can be applied in a variety of control problems, throughout the paper, we motivate this problem with an autonomous car navigating in an urban environment while abiding by the rules of the road, such as "always stay in the right lane" and "do not enter the sidewalk." We evaluate the algorithm on a case study with several illustrative scenarios.

Návaznosti

LH11065, projekt VaV

Název: Řízení a ověřování vlastností komplexních hybridních systémů (Akronym: Řízení a ověřování vlastností komplexních hybridní)

Investor: Ministerstvo školství, mládeže a tělovýchovy ČR, Řízení a ověřování vlastností komplexních hybridních systémů

MUNI/A/0760/2012, interní kód MU

Název: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace II. (Akronym: FI MAV II.)

Investor: Masarykova univerzita, Rozsáhlé výpočetní systémy: modely, aplikace a verifikace II., DO R. 2020_Kategorie A - Specifický výzkum - Studentské výzkumné projekty

Citovat

TŮMOVÁ, Jana, Gavin HALL, Sertac KARAMAN, Emilio FRAZZOLI a Daniela RUS. Least-violating control strategy synthesis with safety rules. In Proceedings of the 16th international conference on Hybrid systems: computation and control. New York, NY, USA: ACM, 2013, s. 1-10. ISBN 978-1-4503-1567-8. Dostupné z: https://dx.doi.org/10.1145/2461328.2461330.

@inproceedings{1163975,
   author = {Tůmová, Jana and Hall, Gavin and Karaman, Sertac and Frazzoli, Emilio and Rus, Daniela},
   address = {New York, NY, USA},
   booktitle = {Proceedings of the 16th international conference on Hybrid systems: computation and control},
   doi = {http://dx.doi.org/10.1145/2461328.2461330},
   keywords = {control strategy synthesis; temporal logic; formal methods; least-violating planning; robot path planning},
   howpublished = {tištěná verze "print"},
   language = {eng},
   location = {New York, NY, USA},
   isbn = {978-1-4503-1567-8},
   pages = {1-10},
   publisher = {ACM},
   title = {Least-violating control strategy synthesis with safety rules},
   year = {2013}
}

TY  - JOUR
ID  - 1163975
AU  - Tůmová, Jana - Hall, Gavin - Karaman, Sertac - Frazzoli, Emilio - Rus, Daniela
PY  - 2013
TI  - Least-violating control strategy synthesis with safety rules
PB  - ACM
CY  - New York, NY, USA
SN  - 9781450315678
KW  - control strategy synthesis
KW  - temporal logic
KW  - formal methods
KW  - least-violating planning
KW  - robot path planning
N2  - We consider the problem of automatic control strategy synthesis, for discrete models of robotic systems, to fulfill a task that requires reaching a goal state while obeying a given set of safety rules. In this paper, we focus on the case when the said task is not feasible without temporarily violating some of the rules. We propose an algorithm that {synthesizes} a motion which violates only lowest priority rules for the shortest amount of time. Although the proposed algorithm can be applied in a variety of control problems, throughout the paper, we motivate this problem with an autonomous car navigating in an urban environment while abiding by the rules of the road, such as "always stay in the right lane" and "do not enter the sidewalk." We evaluate the algorithm on a case study with several illustrative scenarios.
ER  -

TŮMOVÁ, Jana, Gavin HALL, Sertac KARAMAN, Emilio FRAZZOLI a Daniela RUS. Least-violating control strategy synthesis with safety rules. In \textit{Proceedings of the 16th international conference on Hybrid systems: computation and control}. New York, NY, USA: ACM, 2013, s.~1-10. ISBN~978-1-4503-1567-8. Dostupné z: https://dx.doi.org/10.1145/2461328.2461330.

Podrobný výpis o publikaci