106,543 research outputs found
The Planning Spectrum - One, Two, Three, Infinity
Linear Temporal Logic (LTL) is widely used for defining conditions on the
execution paths of dynamic systems. In the case of dynamic systems that allow
for nondeterministic evolutions, one has to specify, along with an LTL formula
f, which are the paths that are required to satisfy the formula. Two extreme
cases are the universal interpretation A.f, which requires that the formula be
satisfied for all execution paths, and the existential interpretation E.f,
which requires that the formula be satisfied for some execution path.
When LTL is applied to the definition of goals in planning problems on
nondeterministic domains, these two extreme cases are too restrictive. It is
often impossible to develop plans that achieve the goal in all the
nondeterministic evolutions of a system, and it is too weak to require that the
goal is satisfied by some execution.
In this paper we explore alternative interpretations of an LTL formula that
are between these extreme cases. We define a new language that permits an
arbitrary combination of the A and E quantifiers, thus allowing, for instance,
to require that each finite execution can be extended to an execution
satisfying an LTL formula (AE.f), or that there is some finite execution whose
extensions all satisfy an LTL formula (EA.f). We show that only eight of these
combinations of path quantifiers are relevant, corresponding to an alternation
of the quantifiers of length one (A and E), two (AE and EA), three (AEA and
EAE), and infinity ((AE)* and (EA)*). We also present a planning algorithm for
the new language that is based on an automata-theoretic approach, and study its
complexity
Programming in logic without logic programming
In previous work, we proposed a logic-based framework in which computation is
the execution of actions in an attempt to make reactive rules of the form if
antecedent then consequent true in a canonical model of a logic program
determined by an initial state, sequence of events, and the resulting sequence
of subsequent states. In this model-theoretic semantics, reactive rules are the
driving force, and logic programs play only a supporting role.
In the canonical model, states, actions and other events are represented with
timestamps. But in the operational semantics, for the sake of efficiency,
timestamps are omitted and only the current state is maintained. State
transitions are performed reactively by executing actions to make the
consequents of rules true whenever the antecedents become true. This
operational semantics is sound, but incomplete. It cannot make reactive rules
true by preventing their antecedents from becoming true, or by proactively
making their consequents true before their antecedents become true.
In this paper, we characterize the notion of reactive model, and prove that
the operational semantics can generate all and only such models. In order to
focus on the main issues, we omit the logic programming component of the
framework.Comment: Under consideration in Theory and Practice of Logic Programming
(TPLP
Multi-Criteria Optimal Planning for Energy Policies in CLP
In the policy making process a number of disparate and diverse issues such as
economic development, environmental aspects, as well as the social acceptance
of the policy, need to be considered. A single person might not have all the
required expertises, and decision support systems featuring optimization
components can help to assess policies. Leveraging on previous work on
Strategic Environmental Assessment, we developed a fully-fledged system that is
able to provide optimal plans with respect to a given objective, to perform
multi-objective optimization and provide sets of Pareto optimal plans, and to
visually compare them. Each plan is environmentally assessed and its footprint
is evaluated. The heart of the system is an application developed in a popular
Constraint Logic Programming system on the Reals sort. It has been equipped
with a web service module that can be queried through standard interfaces, and
an intuitive graphic user interface.Comment: Accepted at ICLP2014 Conference as Technical Communication, due to
appear in Theory and Practice of Logic Programming (TPLP
A generic formalism for the semantic modeling and representation of architectural elements
This article presents a methodological approach to the semantic description of architectural elements based both on theoretical reflections and research experiences. To develop this approach, a first process of extraction and formalization of architectural knowledge on the basis of the analysis of architectural treaties is proposed. Then, the identified features are used to produce a template shape library dedicated to buildings surveying. Finally, the problem of the overall model structuring and organization using semantic information is addressed for user handling purposes
Robust degradation and enhancement of robot mission behaviour in unpredictable environments
Š 2015 ACM.Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumptions are inevitable to reduce complexity and provide mission-level guarantees; no plan can guarantee results in a model of a world in which everything can go wrong. In this paper, we show how our approach, which reduces reliance on a single model by introducing a stack of models, can endow systems with incremental guarantees based on increasingly strengthened assumptions, supporting graceful degradation when the environment does not behave as expected, and progressive enhancement when it does
Specification Patterns for Robotic Missions
Mobile and general-purpose robots increasingly support our everyday life,
requiring dependable robotics control software. Creating such software mainly
amounts to implementing their complex behaviors known as missions. Recognizing
the need, a large number of domain-specific specification languages has been
proposed. These, in addition to traditional logical languages, allow the use of
formally specified missions for synthesis, verification, simulation, or guiding
the implementation. For instance, the logical language LTL is commonly used by
experts to specify missions, as an input for planners, which synthesize the
behavior a robot should have. Unfortunately, domain-specific languages are
usually tied to specific robot models, while logical languages such as LTL are
difficult to use by non-experts. We present a catalog of 22 mission
specification patterns for mobile robots, together with tooling for
instantiating, composing, and compiling the patterns to create mission
specifications. The patterns provide solutions for recurrent specification
problems, each of which detailing the usage intent, known uses, relationships
to other patterns, and---most importantly---a template mission specification in
temporal logic. Our tooling produces specifications expressed in the LTL and
CTL temporal logics to be used by planners, simulators, or model checkers. The
patterns originate from 245 realistic textual mission requirements extracted
from the robotics literature, and they are evaluated upon a total of 441
real-world mission requirements and 1251 mission specifications. Five of these
reflect scenarios we defined with two well-known industrial partners developing
human-size robots. We validated our patterns' correctness with simulators and
two real robots
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