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.

Basic information

Original name

Least-violating control strategy synthesis with safety rules

Authors

TŮMOVÁ, Jana (203 Czech Republic, guarantor, belonging to the institution), Gavin HALL (840 United States of America), Sertac KARAMAN (840 United States of America), Emilio FRAZZOLI (840 United States of America) and Daniela RUS (840 United States of America)

Edition

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

Publisher

ACM

Other information

Language

English

Type of outcome

Stať ve sborníku

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

United States of America

Confidentiality degree

není předmětem státního či obchodního tajemství

Publication form

printed version "print"

RIV identification code

RIV/00216224:14330/13:00071898

Organization unit

Faculty of Informatics

ISBN

978-1-4503-1567-8

DOI

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

Keywords in English

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

Abstract

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.

Links

LH11065, research and development project

Name: Řízení a ověřování vlastností komplexních hybridních systémů (Acronym: Řízení a ověřování vlastností komplexních hybridní)

Investor: Ministry of Education, Youth and Sports of the CR

MUNI/A/0760/2012, interní kód MU

Name: Rozsáhlé výpočetní systémy: modely, aplikace a verifikace II. (Acronym: FI MAV II.)

Investor: Masaryk University, Category A

Citovat

TŮMOVÁ, Jana, Gavin HALL, Sertac KARAMAN, Emilio FRAZZOLI and 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, p. 1-10. ISBN 978-1-4503-1567-8. Available from: 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 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, 2013, p.~1-10. ISBN~978-1-4503-1567-8. Available from: https://dx.doi.org/10.1145/2461328.2461330.

Detailed Information on Publication Record