On the minimal revision problem of specification automata

Kangjin Kim, Georgios Fainekos, Sriram Sankaranarayanan

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on their 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. This paper establishes that the latter problem, which is referred to as the minimal specification revision problem, is NP-complete. A heuristic algorithm is presented that can compute good approximations to the Minimal Revision Problem (MRP) 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)
Pages (from-to)1515-1535
Number of pages21
JournalInternational Journal of Robotics Research
Volume34
Issue number12
DOIs
StatePublished - Oct 30 2015

Fingerprint

Automata
Robot
Robots
Specification
Specifications
Heuristic algorithms
Heuristic algorithm
Optimal Solution
Temporal logic
Requirements
Temporal Logic
Experimental Study
Computational complexity
Polynomial time
NP-complete problem
Planning
Polynomials
Feedback
Scenarios
Necessary

Keywords

  • hybrid control
  • Motion planning
  • specification revision
  • temporal logics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Modeling and Simulation

Cite this

On the minimal revision problem of specification automata. / Kim, Kangjin; Fainekos, Georgios; Sankaranarayanan, Sriram.

In: International Journal of Robotics Research, Vol. 34, No. 12, 30.10.2015, p. 1515-1535.

Research output: Contribution to journalArticle

Kim, Kangjin ; Fainekos, Georgios ; Sankaranarayanan, Sriram. / On the minimal revision problem of specification automata. In: International Journal of Robotics Research. 2015 ; Vol. 34, No. 12. pp. 1515-1535.
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