### 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 language | English (US) |
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Title of host publication | IEEE International Conference on Intelligent Robots and Systems |

Pages | 265-271 |

Number of pages | 7 |

DOIs | |

State | Published - 2012 |

Event | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: Oct 7 2012 → Oct 12 2012 |

### Other

Other | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 |
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Country | Portugal |

City | Vilamoura, Algarve |

Period | 10/7/12 → 10/12/12 |

### Fingerprint

### ASJC Scopus subject areas

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

### Cite this

*IEEE International Conference on Intelligent Robots and Systems*(pp. 265-271). [6386215] https://doi.org/10.1109/IROS.2012.6386215

**Approximate solutions for the minimal revision problem of specification automata.** / Kim, Kangjin; Fainekos, Georgios.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*IEEE International Conference on Intelligent Robots and Systems.*, 6386215, pp. 265-271, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6386215

}

TY - GEN

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

AU - Kim, Kangjin

AU - Fainekos, Georgios

PY - 2012

Y1 - 2012

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

SP - 265

EP - 271

BT - IEEE International Conference on Intelligent Robots and Systems

ER -