Least-violating control strategy synthesis with safety rules

Autoři TŮMOVÁ Jana — HALL Gavin — KARAMAN Sertac — FRAZZOLI Emilio — RUS Daniela
Druh Článek ve sborníku
Citace TŮMOVÁ, Jana, Gavin HALL, Sertac KARAMAN, Emilio FRAZZOLI a 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. s. 1-10, 10 s. ISBN 978-1-4503-1567-8. doi:10.1145/2461328.2461330.
Originální jazyk angličtina
Obor Informatika
Doi http://dx.doi.org/10.1145/2461328.2461330
Klíčová slova control strategy synthesis; temporal logic; formal methods; least-violating planning; robot path planning

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.

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