TY - GEN

T1 - Approximate solutions for the minimal revision problem of specification automata

AU - Kim, Kangjin

AU - Fainekos, Georgios

PY - 2012/12/1

Y1 - 2012/12/1

N2 - As robots are being integrated into our daily lives, it becomes necessary to provide guarantees of safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all user task requirements can be realized by the robot. In such cases, the robot must provide feedback to the user on why it cannot accomplish a given task. Moreover, the robot should indicate what tasks it can accomplish which are as 'close' as possible to the initial user intent. Unfortunately, the latter problem, which is referred to as minimal specification revision problem, is NP complete. This paper presents an approximation algorithm that can compute good approximations to the minimal revision problem in polynomial time. The experimental study of the algorithm demonstrates that in most problem instances the heuristic algorithm actually returns the optimal solution. Finally, some cases where the algorithm does not return the optimal solution are presented.

AB - As robots are being integrated into our daily lives, it becomes necessary to provide guarantees of safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all user task requirements can be realized by the robot. In such cases, the robot must provide feedback to the user on why it cannot accomplish a given task. Moreover, the robot should indicate what tasks it can accomplish which are as 'close' as possible to the initial user intent. Unfortunately, the latter problem, which is referred to as minimal specification revision problem, is NP complete. This paper presents an approximation algorithm that can compute good approximations to the minimal revision problem in polynomial time. The experimental study of the algorithm demonstrates that in most problem instances the heuristic algorithm actually returns the optimal solution. Finally, some cases where the algorithm does not return the optimal solution are presented.

UR - http://www.scopus.com/inward/record.url?scp=84872346869&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84872346869&partnerID=8YFLogxK

U2 - 10.1109/IROS.2012.6386215

DO - 10.1109/IROS.2012.6386215

M3 - Conference contribution

AN - SCOPUS:84872346869

SN - 9781467317375

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 265

EP - 271

BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012

T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

Y2 - 7 October 2012 through 12 October 2012

ER -