skip to main content
10.1145/2804337.2804342acmconferencesArticle/Chapter ViewAbstractPublication PagesfseConference Proceedingsconference-collections
research-article

Robust degradation and enhancement of robot mission behaviour in unpredictable environments

Published: 31 August 2015 Publication History

Abstract

Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumptions are inevitable to reduce complexity and provide mission-level guarantees; no plan can guarantee results in a model of a world in which everything can go wrong. In this paper, we show how our approach, which reduces reliance on a single model by introducing a stack of models, can endow systems with incremental guarantees based on increasingly strengthened assumptions, supporting graceful degradation when the environment does not behave as expected, and progressive enhancement when it does.

References

[1]
R. Bloem, A. Cimatti, K. Greimel, G. Hofferek, R. Könighofer, M. Roveri, V. Schuppan, and R. Seeber. Ratsy: a new requirements analysis tool with synthesis. In Proceedings of the 22Nd International Conference on Computer Aided Verification, CAV’10, pages 425–429, Berlin, Heidelberg, 2010. Springer-Verlag.
[2]
A. Bohy, V. Bruyère, E. Filiot, N. Jin, and J.-F. Raskin. Acacia: a tool for ltl synthesis. In Proceedings of the 24th International Conference on Computer Aided Verification, CAV’12, pages 652–657, Berlin, Heidelberg, 2012. Springer-Verlag.
[3]
V. Braberman, N. D’Ippolito, N. Piterman, D. Sykes, and S. Uchitel. Controller synthesis: From modelling to enactment. In Proceedings of the 2013 International Conference on Software Engineering, pages 1347–1350. IEEE Press, 2013.
[4]
I. Cizelj and C. Belta. Control of noisy differential-drive vehicles from time-bounded temporal logic specifications. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 2021–2026, May 2013.
[5]
L. de Alfaro and T. A. Henzinger. Interface automata. In ESEC / SIGSOFT FSE, pages 109–120. ACM, 2001.
[6]
N. D’Ippolito, V. Braberman, N. Piterman, and S. Uchitel. Synthesising non-anomalous event-based controllers for liveness goals. ACM Tran. Softw. Eng. Methodol., 22, 2013.
[7]
N. D’Ippolito, V. A. Braberman, J. Kramer, J. Magee, D. Sykes, and S. Uchitel. Hope for the best, prepare for the worst: multi-tier control for adaptive systems. In ICSE, pages 688–699, 2014.
[8]
N. D’Ippolito, V. A. Braberman, N. Piterman, and S. Uchitel. Synthesis of live behaviour models for fallible domains. In R. N. Taylor, H. Gall, and N. Medvidovic, editors, ICSE 2011, Waikiki, Honolulu, HI, USA, May 21-28, 2011, pages 211–220. ACM, 2011.
[9]
N. D’Ippolito, D. Fischbein, M. Chechik, and S. Uchitel. Mtsa: The modal transition system analyser. In Proceedings of the 2008 23rd IEEE/ACM International Conference on Automated Software Engineering, ASE ’08, pages 475–476, Washington, DC, USA, 2008. IEEE Computer Society.
[10]
R. Ehlers. Symbolic bounded synthesis. In Proceedings of the 22Nd International Conference on Computer Aided Verification, CAV’10, pages 365–379, Berlin, Heidelberg, 2010. Springer-Verlag.
[11]
I. Epifani, C. Ghezzi, R. Mirandola, and G. Tamburrelli. Model evolution by run-time parameter adaptation. In ICSE 2009, pages 111–121. IEEE, 2009.
[12]
N. Esfahani and S. Malek. Uncertainty in self-adaptive software systems. In R. de Lemos, H. Giese, H. A. Müller, and M. Shaw, editors, Software Engineering for Self-Adaptive Systems, volume 7475 of Lecture Notes in Computer Science, pages 214–238. Springer, 2010.
[13]
T. Fraichard and J. J. K. Jr. Guaranteeing motion safety for robots. Auton. Robots, 32(3):173–175, 2012.
[14]
C. Ghezzi, M. Pezzè, M. Sama, and G. Tamburrelli. Mining behavior models from user-intensive web applications. In ICSE, pages 277–287, 2014.
[15]
D. Giannakopoulou and J. Magee. Fluent model checking for event-based systems. In Proceedings of the 9th European software engineering conference held jointly with 11th ACM SIGSOFT international symposium on Foundations of software engineering, ESEC/FSE-11, pages 257–266, New York, NY, USA, 2003. ACM.
[16]
R. C. Hill, J. E. R. Cury, M. H. de Queiroz, D. M. Tilbury, and S. Lafortune. Multi-level hierarchical interface-based supervisory control. Automatica, 46(7):1152–1164, July 2010.
[17]
B. Jobstmann and R. Bloem. Optimizations for ltl synthesis. In Proceedings of the Formal Methods in Computer Aided Design, FMCAD ’06, pages 117–124, Washington, DC, USA, 2006. IEEE Computer Society.
[18]
B. Jobstmann, S. Galler, M. Weiglhofer, and R. Bloem. Anzu: A tool for property synthesis. In Proceedings of the 19th International Conference on Computer Aided Verification, CAV’07, pages 258–262, Berlin, Heidelberg, 2007. Springer-Verlag.
[19]
H. Kress-Gazit, G. Fainekos, and G. Pappas. Temporal-logic-based reactive mission and motion planning. Robotics, IEEE Transactions on, 25(6):1370–1381, Dec 2009.
[20]
O. Kupferman and M. Y. Vardi. Model checking of safety properties. Form. Methods Syst. Des., 19(3):291–314, Oct. 2001.
[21]
M. Lahijanian, J. Wasniewski, S. Andersson, and C. Belta. Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees. In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages 3227–3232, May 2010.
[22]
A. Medina Ayala, S. Andersson, and C. Belta. Temporal logic control in dynamic environments with probabilistic satisfaction guarantees. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 3108–3113, Sept 2011.
[23]
R. Milner. Communication and Concurrency. Prentice-Hall, Inc., Upper Saddle River, NJ, USA, 1989.
[24]
N. Piterman, A. Pnueli, and Y. Sa’ar. Synthesis of reactive (1) designs. Lecture notes in computer science, 3855:364–380, 2006.
[25]
A. Pnueli, Y. Sa’ar, and L. D. Zuck. Jtlv: A framework for developing verification algorithms. In Proceedings of the 22Nd International Conference on Computer Aided Verification, CAV’10, pages 171–174, Berlin, Heidelberg, 2010. Springer-Verlag.
[26]
V. Raman and H. Kress-Gazit. Synthesis for multi-robot controllers with interleaved motion. In Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014.
[27]
D. Sykes, D. Corapi, J. Magee, J. Kramer, A. Russo, and K. Inoue. Learning revised models for planning in adaptive systems. In Proceedings of ICSE, 2013.
[28]
A. Ulusoy, M. Marrazzo, K. Oikonomopoulos, R. Hunter, and C. Belta. Temporal logic control for an autonomous quadrotor in a nondeterministic environment. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 331–336, May 2013.
[29]
E. Wolff, U. Topcu, and R. Murray. Efficient reactive controller synthesis for a fragment of linear temporal logic. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 5033–5040, May 2013.
[30]
C. Yoo, R. Fitch, and S. Sukkarieh. Provably-correct stochastic motion planning with safety constraints. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 981–986, May 2013.

Cited By

View all
  • (2018)A Weakness Measure for GR(1) FormulaeFormal Methods10.1007/978-3-319-95582-7_7(110-128)Online publication date: 12-Jul-2018
  • (2016)Simple synthesis of reactive systems with tolerance for unexpected environmental behaviorProceedings of the 4th FME Workshop on Formal Methods in Software Engineering10.1145/2897667.2897672(15-21)Online publication date: 14-May-2016

Index Terms

  1. Robust degradation and enhancement of robot mission behaviour in unpredictable environments

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Conferences
    CTSE 2015: Proceedings of the 1st International Workshop on Control Theory for Software Engineering
    August 2015
    41 pages
    ISBN:9781450338141
    DOI:10.1145/2804337
    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

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 31 August 2015

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. Controller Synthesis
    2. Self-adaptive Systems

    Qualifiers

    • Research-article

    Conference

    ESEC/FSE'15
    Sponsor:

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • Downloads (Last 12 months)1
    • Downloads (Last 6 weeks)0
    Reflects downloads up to 08 Feb 2025

    Other Metrics

    Citations

    Cited By

    View all
    • (2018)A Weakness Measure for GR(1) FormulaeFormal Methods10.1007/978-3-319-95582-7_7(110-128)Online publication date: 12-Jul-2018
    • (2016)Simple synthesis of reactive systems with tolerance for unexpected environmental behaviorProceedings of the 4th FME Workshop on Formal Methods in Software Engineering10.1145/2897667.2897672(15-21)Online publication date: 14-May-2016

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media