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Statements

Subject Item
n2:RIV%2F00216224%3A14330%2F13%3A00071898%21RIV14-MSM-14330___
rdf:type
skos:Concept n7:Vysledek
dcterms: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.
dcterms:title
Least-violating control strategy synthesis with safety rules Least-violating control strategy synthesis with safety rules
skos:prefLabel
Least-violating control strategy synthesis with safety rules Least-violating control strategy synthesis with safety rules
skos:notation
RIV/00216224:14330/13:00071898!RIV14-MSM-14330___
n7:predkladatel
n15:orjk%3A14330
n3:aktivita
n4:P
n3:aktivity
P(LH11065)
n3:dodaniDat
n17:2014
n3:domaciTvurceVysledku
n14:4293738
n3:druhVysledku
n22:D
n3:duvernostUdaju
n13:S
n3:entitaPredkladatele
n16:predkladatel
n3:idSjednocenehoVysledku
84525
n3:idVysledku
RIV/00216224:14330/13:00071898
n3:jazykVysledku
n20:eng
n3:klicovaSlova
control strategy synthesis; temporal logic; formal methods; least-violating planning; robot path planning
n3:klicoveSlovo
n10:control%20strategy%20synthesis n10:robot%20path%20planning n10:least-violating%20planning n10:formal%20methods n10:temporal%20logic
n3:kontrolniKodProRIV
[4AD1B258A52B]
n3:mistoKonaniAkce
Philadelphia, PA, USA
n3:mistoVydani
New York, NY, USA
n3:nazevZdroje
Proceedings of the 16th international conference on Hybrid systems: computation and control
n3:obor
n21:IN
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
5
n3:projekt
n6:LH11065
n3:rokUplatneniVysledku
n17:2013
n3:tvurceVysledku
Tůmová, Jana Karaman, Sertac Rus, Daniela Hall, Gavin Frazzoli, Emilio
n3:typAkce
n12:WRD
n3:zahajeniAkce
2013-01-01+01:00
s:numberOfPages
10
n11:doi
10.1145/2461328.2461330
n18:hasPublisher
ACM
n8:isbn
9781450315678
n9:organizacniJednotka
14330