Robotics: Science and Systems X

Correct High-level Robot Behavior in Environments with Unexpected Events

Kai Weng Wong, RĂ¼diger Ehlers, Hadas Kress-Gazit


Synthesis of correct-by-construction robot controllers from high-level specifications has the advantage of providing guaranteed robot behavior under different environments. Typically, when such controllers are synthesized, assumptions that the user makes about the behavior of the environment, if any, are incorporated into the resulting controller. In practice, however, the environment assumptions may be unknown to the user, thus preventing the application of synthesis. Even if environment assumptions are available, they may not hold during the robot's execution due to modeling errors or unforeseen anomalous operating conditions. In this paper, we address both of these problems. We present an approach for synthesizing controllers that include built-in recovery transitions, enabling the robot to make progress towards its goals in the event of environment assumption violation, whenever possible. Furthermore, we present a process for automatically augmenting a specification with environment assumptions that are computed from the robot's observations at runtime. We start with a set of candidate assumptions that is updated whenever violated at runtime.



    AUTHOR    = {Kai Weng Wong AND RĂ¼diger Ehlers AND Hadas Kress-Gazit}, 
    TITLE     = {Correct High-level Robot Behavior in Environments with Unexpected Events}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2014}, 
    ADDRESS   = {Berkeley, USA}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2014.X.012}