research-article

Least-violating control strategy synthesis with safety rules

Authors:

Sertac Karaman,

Emilio Frazzoli,

Daniela RusAuthors Info & Claims

HSCC '13: Proceedings of the 16th international conference on Hybrid systems: computation and control

Pages 1 - 10

https://doi.org/10.1145/2461328.2461330

Published: 08 April 2013 Publication History

Abstract

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.

References

[1]

C. Baier and J.-P. Katoen. Principles of Model Checking. MIT Press, 2008.

Digital Library

[2]

E. Bartocci, R. Grosu, P. Katsaros, C. R. Ramakrishnan, and S. A. Smolka. Model repair for probabilistic systems. In International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), pages 326--340. Springer-Verlag, 2011.

Digital Library

[3]

C. Belta and L. C. G. J. M. Habets. Control of a class of nonlinear systems on rectangles. IEEE Transactions on Automatic Control, 51(11):1749--1759, 2006.

[4]

F. Buccafurri, T. Eiter, G. Gottlob, and N. Leone. Enhancing model checking in verification by AI techniques. Artificial Intelligence, 112(1--2):57--104, 1999.

Digital Library

[5]

A. Cimatti, M. Roveri, V. Schuppan, and A. Tchaltsev. Diagnostic information for realizability. In Proceedings of the International Conference on Verification, Model Checking, and Abstract Interpretation (VMCAI), pages 52--67, Berlin, Heidelberg, 2008. Springer-Verlag.

Digital Library

[6]

C. Courcoubetis and M. Yannakakis. Markov decision processes and regular events. IEEE Transactions on Automatic Control, 43:1399--1418, 1998.

[7]

W. Damm and B. Finkbeiner. Does it pay to extend the perimeter of a world model? In Proceedings of the International Symposium on Formal Mehods (FM), pages 12--26, Berlin, Heidelberg, 2011. Springer-Verlag.

Digital Library

[8]

E. W. Dijkstra. A note on two problems in connexion with graphs. Numerische Mathematik, 1:269--271, 1959.

Digital Library

[9]

X. C. Ding, S. Smith, C. Belta, and D. Rus. Mdp optimal control under temporal logic constraints. In Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), pages 532--538, 2011.

[10]

G. E. Fainekos. Revising temporal logic specifications for motion planning. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.

[11]

E. L. Gunter and D. Peled. Temporal debugging for concurrent systems. In International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), pages 431--444. Springer-Verlag, 2002.

Digital Library

[12]

K. Hauser. The minimum constraint removal problem with three robotics applications. In Proceedings of the International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.

[13]

Karaman and Frazzoli. Sampling-based optimal motion planning with deterministic μ-calculus specifications. In Proceedings of the American Control Conference (ACC), 2012.

[14]

K. Kim and G. Fainekos. Approximate solutions for the minimal revision problem of specification automata. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

[15]

K. Kim, G. Fainekos, and S. Sankaranarayanan. On the revision problem of specification automata. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.

[16]

M. Kloetzer and C. Belta. A Fully Automated Framework for Control of Linear Systems from Temporal Logic Specifications. IEEE Transactions on Automatic Control, 53(1):287--297, 2008.

[17]

H. Kress-Gazit, G. E. Fainekos, and G. J. Pappas. Temporal Logic-based Reactive Mission and Motion Planning. IEEE Transactions on Robotics, 25(6):1370--1381, 2009.

Digital Library

[18]

Z. Manna and A. Pnueli. Temporal Verification of Reactive Systems: Safety. Springer, 1995.

Digital Library

[19]

V. Raman and H. Kress-Gazit. Analyzing unsynthesizable specifications for high-level robot behavior using ltlmop. In Proceedings of International Conference on Computer Aided Verification (CAV), pages 663--668, 2011.

Digital Library

[20]

V. Raman and H. Kress-Gazit. Automated feedback for unachievable high-level robot behaviors. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 5156--5162, 2012.

[21]

M. Sipser. Introduction to the Theory of Computation. Course Technology, 3rd edition, 2012.

[22]

S. L. Smith, J. Tumova, C. Belta, and D. Rus. Optimal Path Planning for Surveillance with Temporal Logic Constraints. International Journal of Robotics Research, 30(14):1695--1708, 2011.

Digital Library

[23]

A. Ulusoy, S. L. Smith, X. C. Ding, and C. Belta. Robust multi-robot optimal path planning with temporal logic constraints. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4693--4698, 2012.

[24]

M. Y. Vardi and P. Wolper. An automata-theoretic approach to automatic program verification. In Logic in Computer Science, pages 322--331, 1986.

[25]

T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding Horizon Control for Temporal Logic Specifications. In Hybrid systems: Computation and Control (HSCC), pages 101--110, 2010.

Digital Library

Cited By

Aasi ECai MVasile CBelta C(2025)A Two-Level Control Algorithm for Autonomous Driving in Urban EnvironmentsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.348655726:1(410-424)Online publication date: Jan-2025
https://doi.org/10.1109/TITS.2024.3486557
Cai MZhou ZLi LXiao SKan Z(2024)Reinforcement learning with soft temporal logic constraints using limit-deterministic generalized Büchi automatonJournal of Automation and Intelligence10.1016/j.jai.2024.12.005Online publication date: Dec-2024
https://doi.org/10.1016/j.jai.2024.12.005
Ma XSong LZhao CWu SYu WWang WYang LWang H(2024)Law compliance decision making for autonomous vehicles on highwaysAccident Analysis & Prevention10.1016/j.aap.2024.107620204(107620)Online publication date: Sep-2024
https://doi.org/10.1016/j.aap.2024.107620
Show More Cited By

Index Terms

Least-violating control strategy synthesis with safety rules
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory
2. Software and its engineering
  1. Software creation and management
    1. Software verification and validation
      1. Formal software verification
  2. Software organization and properties
    1. Software functional properties
      1. Formal methods

Recommendations

FreeD∗: a mechanism for finding a short and collision free path

Path planning is extensively used in different fields not only in robotics but also in games, manufacturing, auto‐motive applications, and so on. Robot path planning is one of the major research issues in the area of autonomous mobile robot. The critical ...
Optimal hybrid strategy in adaptive cruise control system for enhanced autonomous vehicle stability and safety
Abstract
The adaptive cruise control system relies heavily on the vehicle's longitudinal control algorithm. Traditional longitudinal control algorithms typically depend on precise vehicle dynamic modeling or complex controller parameter calibrations. In ...
Ethics of automated vehicles: breaking traffic rules for road safety
Abstract
In this paper, we explore and describe what is needed to allow connected and automated vehicles (CAVs) to break traffic rules in order to minimise road safety risk and to operate with appropriate transparency (according to recommendation 4 in ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

HSCC '13: Proceedings of the 16th international conference on Hybrid systems: computation and control

April 2013

378 pages

ISBN:9781450315678

DOI:10.1145/2461328

Program Chairs:
Calin Belta
Boston University, USA
,
Franjo Ivančić
NEC Laboratories America, USA

Copyright © 2013 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

IEEE Signal Processing Society
SIGBED: ACM Special Interest Group on Embedded Systems

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 08 April 2013

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Conference

HSCC '13

Sponsor:

SIGBED

HSCC '13: Computation and Control

April 8 - 11, 2013

Pennsylvania, Philadelphia, USA

Acceptance Rates

HSCC '13 Paper Acceptance Rate 40 of 86 submissions, 47%;

Overall Acceptance Rate 153 of 373 submissions, 41%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

52
Total Citations
View Citations
618
Total Downloads

Downloads (Last 12 months)35
Downloads (Last 6 weeks)3

Reflects downloads up to 01 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Aasi ECai MVasile CBelta C(2025)A Two-Level Control Algorithm for Autonomous Driving in Urban EnvironmentsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.348655726:1(410-424)Online publication date: Jan-2025
https://doi.org/10.1109/TITS.2024.3486557
Cai MZhou ZLi LXiao SKan Z(2024)Reinforcement learning with soft temporal logic constraints using limit-deterministic generalized Büchi automatonJournal of Automation and Intelligence10.1016/j.jai.2024.12.005Online publication date: Dec-2024
https://doi.org/10.1016/j.jai.2024.12.005
Ma XSong LZhao CWu SYu WWang WYang LWang H(2024)Law compliance decision making for autonomous vehicles on highwaysAccident Analysis & Prevention10.1016/j.aap.2024.107620204(107620)Online publication date: Sep-2024
https://doi.org/10.1016/j.aap.2024.107620
Li LRahmani HFu JElkind E(2023)Probabilistic planning with prioritized preferences over temporal logic objectivesProceedings of the Thirty-Second International Joint Conference on Artificial Intelligence10.24963/ijcai.2023/22(189-198)Online publication date: 19-Aug-2023
https://dl.acm.org/doi/10.24963/ijcai.2023/22
Cai MMann MSerlin ZLeahy KVasile C(2023)Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications2023 American Control Conference (ACC)10.23919/ACC55779.2023.10156544(1446-1452)Online publication date: 31-May-2023
https://doi.org/10.23919/ACC55779.2023.10156544
Kulkarni AFu J(2023)Opportunistic Qualitative Planning in Stochastic Systems with Incomplete Preferences over Reachability Objectives2023 American Control Conference (ACC)10.23919/ACC55779.2023.10156127(3541-3547)Online publication date: 31-May-2023
https://doi.org/10.23919/ACC55779.2023.10156127
Lv PHan JNie JZhang YXu JCai CChen Z(2023)Cooperative Decision-Making of Connected and Autonomous Vehicles in an EmergencyIEEE Transactions on Vehicular Technology10.1109/TVT.2022.321188472:2(1464-1477)Online publication date: Feb-2023
https://doi.org/10.1109/TVT.2022.3211884
Cai KPhan-Minh TChung SMurray R(2023)Rules of the Road: Formal Guarantees for Autonomous Vehicles With Behavioral Contract DesignIEEE Transactions on Robotics10.1109/TRO.2023.324795139:3(1853-1872)Online publication date: Jun-2023
https://doi.org/10.1109/TRO.2023.3247951
Guo MLiao TWang JLi Z(2023)Hierarchical Motion Planning Under Probabilistic Temporal Tasks and Safe-Return ConstraintsIEEE Transactions on Automatic Control10.1109/TAC.2023.324488468:11(6727-6742)Online publication date: Nov-2023
https://doi.org/10.1109/TAC.2023.3244884
Cai MXiao SLi ZKan Z(2023)Optimal Probabilistic Motion Planning With Potential Infeasible LTL ConstraintsIEEE Transactions on Automatic Control10.1109/TAC.2021.313870468:1(301-316)Online publication date: Jan-2023
https://doi.org/10.1109/TAC.2021.3138704
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Figures

Tables

Media

View Table of Conten