A Rewriting-Logic-Based Technique for Modeling Thermal Systems

This paper presents a rewriting-logic-based modeling and analysis technique for physical systems, with focus on thermal systems. The contributions of this paper can be summarized as follows: (i) providing a framework for modeling and executing physical systems, where both the physical components and their physical interactions are treated as first-class citizens; (ii) showing how heat transfer problems in thermal systems can be modeled in Real-Time Maude; (iii) giving the implementation in Real-Time Maude of a basic numerical technique for executing continuous behaviors in object-oriented hybrid systems; and (iv) illustrating these techniques with a set of incremental case studies using realistic physical parameters, with examples of simulation and model checking analyses.Comment: In Proceedings RTRTS 2010, arXiv:1009.398

Physics-based Motion Planning with Temporal Logic Specifications

One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions to guide sampling-based motion planning, with the aim of finding dynamically-feasible motions that satisfy the temporal-logic task specifications. The present paper proposes an LTL planning approach enhanced with the use of ontologies to describe and reason about the task, on the one hand, and that includes physics-based motion planning to allow the purposeful manipulation of objects, on the other hand. The proposal has been implemented and is illustrated with didactic examples with a mobile robot in simple scenarios where some of the goals are occupied with objects that must be removed in order to fulfill the task.Comment: The 20th World Congress of the International Federation of Automatic Control, 9-14 July 201