Approximate solutions for the minimal revision problem of specification automata

Kangjin Kim, Georgios Fainekos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages265-271
Number of pages7
DOIs
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kim, K., & Fainekos, G. (2012). Approximate solutions for the minimal revision problem of specification automata. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 265-271). [6386215] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386215