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@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 and 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. p.~1-10. ISBN~978-1-4503-1567-8. doi:10.1145/2461328.2461330. 2013.
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