Enhancing tolerance to unexpected jumps in GR(1) games

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Title Enhancing tolerance to unexpected jumps in GR(1) games
Authors Sumanth Dathathri and Scott C. Livingston and Richard M. Murray
Source 2017 Int'l Conference on Cyberphysical Systems (ICCPS)
Abstract When used as part of a hybrid controller, finite-memory strategies synthesized from linear-time temporal logic (LTL) specifications rely on an accurate dynamics model in order to ensure correctness of trajectories. In the presence of uncertainty about the underlying model, there may exist unexpected trajectories that manifest as unexpected transitions under control of the strategy. While some disturbances can be captured by augment- ing the dynamics model, such approaches may be con- servative in that bisimulations may fail to exist for which strategies can be synthesized. In this paper, we consider games of the GR(1) fragment of LTL, and we character- ize the tolerance of hybrid controllers to perturbations that appear as unexpected jumps (transitions) to states in the discrete strategy part of the controller. As a first step, we show robustness to certain unexpected transi- tions that occur in a finite manner, i.e., despite a certain number of unexpected jumps, the sequence of states ob- tained will still meet a stricter specification and hence the original specification. Additionally, we propose al- gorithms to improve robustness by increasing tolerance to additional disturbances. A robot gridworld example is presented to demonstrate the application of the de- veloped ideas and also to perform empirical analysis.
Type Conference paper
URL http://www.cds.caltech.edu/~murray/preprints/dlm17-iccps.pdf
Tag dlm17-iccps
ID 2016g
Funding SRC TerraSwarm