https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Backtracking_temporal_logic_synthesis_for_uncertain_environments 2026-07-27T22:53:46Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Backtracking_temporal_logic_synthesis_for_uncertain_environments&diff=20313&oldid=prev 2016-06-06T16:51:11Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 16:51, 6 June 2016</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{{HTDB paper</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{{HTDB paper</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>| authors = Scott Livingston, Richard M. Murray and Joel W. Burdick</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>| authors = Scott <ins style="font-weight: bold; text-decoration: none;">C. </ins>Livingston, Richard M. Murray and Joel W. Burdick</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>| title = Backtracking temporal logic synthesis for uncertain environments</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>| title = Backtracking temporal logic synthesis for uncertain environments</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>| source = 2012 International Conference on Robotics and Automation (ICRA), submitted</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>| source = 2012 International Conference on Robotics and Automation (ICRA), submitted</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-19754:rev-20313:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=Backtracking_temporal_logic_synthesis_for_uncertain_environments&diff=19754&oldid=prev 2016-05-15T06:16:03Z

<p>htdb2wiki: creating page for 2011h_lmb12-icra.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Scott Livingston, Richard M. Murray and Joel W. Burdick<br /> | title = Backtracking temporal logic synthesis for uncertain environments<br /> | source = 2012 International Conference on Robotics and Automation (ICRA), submitted<br /> | year = 2011<br /> | type = Conference Paper<br /> | funding = Boeing<br /> | url = http://www.cds.caltech.edu/~murray/preprints/lmb12-icra_s.pdf<br /> | abstract = <br /> This paper considers the problem of synthesizing correct-by-construction robotic controllers in environments with uncertain but fixed structure. “Environment” has two notions in this work: a map or “world” in which some controlled agent must operate and navigate (i.e. evolve in a configuration space with obstacles); and an adversarial player that selects con- tinuous and discrete variables to try to make the agent fail (as in a game). Both the robot and the environment are subjected to behavioral specifications expressed as an assume-guarantee linear temporal logic (LTL) formula. We then consider how to efficiently modify the synthesized controller when the robot encounters unexpected changes in its environment. The crucial insight is that a portion of this problem takes place in a metric space, which provides a notion of nearness. Thus if a nominal plan fails, we need not resynthesize it entirely, but instead can “patch” it locally. We present an algorithm for doing this, prove soundness, and demonstrate it on an example gridworld.<br /> | flags = <br /> | tag = lmb12-icra<br /> | id = 2011h<br /> }}</div>

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