18 research outputs found
Patching task-level robot controllers based on a local µ-calculus formula
We present a method for mending strategies for
GR(1) specifications. Given the addition or removal of edges
from the game graph describing a problem (essentially transition
rules in a GR(1) specification), we apply a µ-calculus
formula to a neighborhood of states to obtain a “local strategy”
that navigates around the invalidated parts of an original
synthesized strategy. Our method may thus avoid global resynthesis
while recovering correctness with respect to the new
specification. We illustrate the results both in simulation and
on physical hardware for a planar robot surveillance task
Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis
Temporal logic based synthesis approaches are often used to find trajectories
that are correct-by-construction for tasks in systems with complex behavior.
Some examples of such tasks include synchronization for multi-agent hybrid
systems, reactive motion planning for robots. However, the scalability of such
approaches is of concern and at times a bottleneck when transitioning from
theory to practice. In this paper, we identify a class of problems in the GR(1)
fragment of linear-time temporal logic (LTL) where the synthesis problem allows
for a decomposition that enables easy parallelization. This decomposition also
reduces the alternation depth, resulting in more efficient synthesis. A
multi-agent robot gridworld example with coordination tasks is presented to
demonstrate the application of the developed ideas and also to perform
empirical analysis for benchmarking the decomposition-based synthesis approach
Time-annotated game graphs for synthesis from abstracted systems
The construction of discrete abstractions is a crucial part of many methods for control synthesis of hybrid systems subject to formal specifications. In general, the product of discrete abstractions may not be a discrete abstraction for the product of the underlying continuously-valued systems. Addressing this, we present a control synthesis method for transition systems that are built from components with uncertain timing characteristics. The new device, called here time-annotated game graphs, is demonstrated in a variety of examples. While it is applicable generally to parity games, we consider it in the context of control subject to GR(1) specifications. We show how a nominal strategy obtained without time knowledge can be modified to recover correctness when time information becomes available. The methods are applied to a brief case study of an aircraft electric power system
Interfacing TuLiP with the JPL Statechart Autocoder: Initial progress toward synthesis of flight software from formal specifications
This paper describes the implementation of an interface connecting the two tools : the JPL SCA (Statechart Autocoder) and TuLiP (Temporal Logic Planning Toolbox) to enable the automatic synthesis of low level implementation code directly from formal specifications. With system dynamics, bounds on uncertainty and formal specifications as inputs, TuLiP synthesizes Mealy machines that are correct-by-construction. An interface is built that automatically translates these Mealy machines into UML statecharts. The SCA accepts the UML statecharts (as XML files) to synthesize flight-certified implementation code. The functionality of the interface is demonstrated through three example systems of varying complexity a) a simple thermostat b) a simple speed controller for an autonomous vehicle and c) a more complex speed controller for an autonomous vehicle with a map-element. In the thermostat controller, there is a specification regarding the desired temperature range that has to be met despite disturbance from the environment. Similarly, in the speed-controllers there are specifications about safe driving speeds depending on sensor health (sensors fail unpredictably) and the map-location. The significance of these demonstrations is the potential circumventing of some of the manual design of statecharts for flight software/controllers. As a result, we expect that less testing and validation will be necessary. In applications where the products of synthesis are used alongside manually designed components, extensive testing or new certificates of correctness of the composition may still be required
Identifying and exploiting tolerance to unexpected jumps in synthesized strategies for GR(1) specifications
When used as part of a hybrid controller, finite-memory strategies synthesized from LTL specifications rely on an accurate dynamics model in order to ensure correctness of trajectories. In the presence of uncertainty about this underlying model, there may exist unexpected trajectories that manifest as unexpected transitions under control of the strategy.
While some disturbances can be captured by augmenting the dynamics model, such approaches may be conservative in that bisimulations may fail to exist for which strategies can be synthesized. In this paper, we characterize the tolerance of such hybrid controllers - synthesized for generalized reactivity(1) specifications- to disturbances that appear as unexpected jumps (transitions) to states in the discrete strategy part of the controller.
As a first step, we show robustness to certain unexpected transitions that occur in a finite-manner, i.e., despite a certain number of unexpected jumps, the sequence of states obtained will still meet a stricter specification and hence the original specification. Additionally, we propose algorithms to improve robustness by increasing tolerance to additional disturbances.
A robot gridworld example is presented to demonstrate the application of the developed ideas and also to obtain empirical computational and memory cost estimates
Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States
For the synthesis of correct-by-construction control policies from temporal logic specifications the scalability of the synthesis algorithms is often a bottleneck. In this paper, we parallelize synthesis from specifications in the GR(1) fragment of linear temporal logic by introducing a hierarchical procedure that allows decoupling of the fixpoint computations. The state space is partitioned into equicontrollable sets using solutions to parametrized games that arise from decomposing the original GR(1) game into smaller reachability-persistence games. Following the partitioning, another synthesis problem is formulated for composing the strategies from the decomposed reachability games. The formulation guarantees that composing the synthesized controllers ensures satisfaction of the given GR(1) property. Experiments with robot planning problems demonstrate good performance of the approach
Hot-swapping robot task goals in reactive formal synthesis
We consider the problem of synthesizing robot controllers to realize a task that unpredictably changes with time. Tasks are formally expressed in the GR(1) fragment of temporal logic, in which some of the variables are set by an
adversary. The task changes by the addition or removal of goals, which occurs online (i.e., at run-time). We present an algorithm for mending control
strategies to realize tasks after the addition of goals, while avoiding global
re-synthesis of the strategy. Experiments are presented for a planar
surveillance task in which new regions of interest are incrementally added.
Run-times are empirically shown to be favorable compared to re-synthesizing from scratch. We also present an algorithm for mending control strategies for the removal of goals. While in this setting the original strategy is still
feasible, our algorithm provides a more satisfying solution by "tightening
loose ends.'' Both algorithms are shown to yield so-called reach annotations,
and thus the control strategies are easily amenable to other algorithms
concerning incremental synthesis, e.g., as in previous work by the authors for
navigation in uncertain environments
Enhancing tolerance to unexpected jumps in GR(1) games
When used as part of a hybrid controller, finite-memory strategies synthesized from linear-time temporal logic (LTL) specifications rely on an accurate dynamics model in order to ensure correctness of trajectories. In the presence of uncertainty about the underlying model, there may exist unexpected trajectories that manifest as unexpected transitions
under control of the strategy. While some disturbances can be captured by augmenting the dynamics model, such approaches may be conservative in that bisimulations may fail to exist for
which strategies can be synthesized. In this paper, we consider games of the GR(1) fragment of LTL, and we characterize the tolerance of hybrid controllers to perturbations that appear as unexpected jumps (transitions) to states in the discrete strategy part of the controller.
As a first step, we show robustness to certain unexpected transitions that occur in a finite manner, i.e., despite a certain number of unexpected jumps, the sequence of states obtained will still meet a stricter specification and hence the original specification. Additionally, we propose algorithms to improve robustness by increasing tolerance to additional disturbances. A robot gridworld example is presented to demonstrate the application of the developed ideas and also to perform empirical analysis
Control design for hybrid systems with TuLiP: The Temporal Logic Planning toolbox
This tutorial describes TuLiP, the Temporal Logic Planning toolbox, a collection of tools for designing controllers for hybrid systems from specifications in temporal logic. The tools support a workflow that starts from a description of desired behavior, and of the system to be controlled. The system can have discrete state, or be a hybrid dynamical system with a mixed discrete and continuous state space. The desired behavior can be represented with temporal logic and discrete transition systems. The system description can include uncontrollable variables that take discrete or continuous values, and represent disturbances and other environmental factors that affect the dynamics, as well as communication signals that affect controller decisions