About: Least-violating control strategy synthesis with safety rules

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	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 %22always stay in the right lane%22 and %22do not enter the sidewalk.%22 We evaluate the algorithm on a case study with several illustrative scenarios. 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 %22always stay in the right lane%22 and %22do not enter the sidewalk.%22 We evaluate the algorithm on a case study with several illustrative scenarios. (en)
Title	Least-violating control strategy synthesis with safety rules Least-violating control strategy synthesis with safety rules (en)
skos:prefLabel	Least-violating control strategy synthesis with safety rules Least-violating control strategy synthesis with safety rules (en)
skos:notation	RIV/00216224:14330/13:00071898!RIV14-MSM-14330___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(LH11065)
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Tůmová, Jana
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Masarykova univerzita / Fakulta informatiky
http://linked.open...dnocenehoVysledku	84525
http://linked.open...ai/riv/idVysledku	RIV/00216224:14330/13:00071898
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	control strategy synthesis; temporal logic; formal methods; least-violating planning; robot path planning (en)
http://linked.open.../riv/klicoveSlovo	formal methods temporal logic control strategy synthesis least-violating planning robot path planning
http://linked.open...ontrolniKodProRIV	[4AD1B258A52B]
http://linked.open...v/mistoKonaniAkce	Philadelphia, PA, USA
http://linked.open...i/riv/mistoVydani	New York, NY, USA
http://linked.open...i/riv/nazevZdroje	Proceedings of the 16th international conference on Hybrid systems: computation and control
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	5 (xsd:int)
http://linked.open...vavai/riv/projekt	Control Synthesis and Formal Verification of Complex Hybrid Systems
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Rus, Daniela Tůmová, Jana Frazzoli, Emilio Karaman, Sertac Hall, Gavin
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2013-01-01 (xsd:date)
number of pages	10 (xsd:int)
http://bibframe.org/vocab/doi	10.1145/2461328.2461330
http://purl.org/ne...btex#hasPublisher	ACM
https://schema.org/isbn	9781450315678
http://localhost/t...ganizacniJednotka	14330

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