Synthesis of Correct-by-Construction Behavior Trees
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| Title | Synthesis of Correct-by-Construction Behavior Trees |
|---|---|
| Authors | Michele Colledanchise, Richard M. Murray and and Petter Ogren |
| Source | Submitted, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Abstract | In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admissible environment specifications, an agent model in form of a Finite Transition System and the desired task in form of an LTL formula, we synthesize a BT in polynomial time, that is guaranteed to correctly execute the desired task. To illustrate the approach, we present three examples of increasing complexity. |
| Type | Conference paper |
| URL | http://www.cds.caltech.edu/~murray/preprints/cmo17-iros s.pdf |
| DOI | |
| Tag | cmo17-iros |
| ID | 2017e |
| Funding | |
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