Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application

Hybrid Control from Scratch: A Design Methodology for Assured Robotic Missions

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures usually build on existing robot hardware, generating as a result solutions that are influenced and/or restricted in their design by the available capabilities and sensors. In contrast to these approaches, we propose a design methodology that, given a specific domain of application, allowed us to build the first end-to-end implementation of an autonomous robot system that uses discrete event controller synthesis to generate assured mission plans. We validate this robot system in several missions of our target domain of application.Sociedad Argentina de Informátic

An End-to-End Robot System for Warehouse Applications Using Controller Synthesis

Controller synthesis has been used in recent research to generate, from user specifications, correctby-construction motion and task plans for mobile robots. These plans are implemented by hybrid control architectures allowing the robot to move and interact with complex environments. However, the different abstraction levels involved together with the many components that must be developed for a fully functional end-to-end system requires numerous design and methodology decisions, specially when the robot strongly interacts with its environment. In this paper, we present an end-to-end system design and implementation for a mobile robot targeted at warehouse applications, that uses a proof-of- concept approach in a simulated environment as a key step in the design process. We demonstrate its capabilities in product rearrangement both in simulated and real world scenarios.Sociedad Argentina de Informática e Investigación Operativ

Desarrollo de misiones en vehículos aéreos no Tripulados (VANT) con planning reactivo para aplicaciones agrarias

En este trabajo presentamos una interfaz alternativa para la planificación de misiones en vehículos aéreos no tripulados (VANT), basada en la síntesis de controladores de eventos discretos. La síntesis de controladores ha tenido un uso creciente en el ´ultimo tiempo como mecanismo automático para producir planes de misión en sistemas robóticos a partir de especificaciones de alto nivel. Mostramos como diseñamos y construimos una arquitectura de control híbrido que permite modelar el comportamiento del VANT y su entorno, especificar requerimientos de misión en lenguajes lógicos formales, sintetizar controladores que satisfacen estos requerimientos, y luego implementar estos controladores en sistemas VANT reales y simulados. Este marco de planificación que proponemos cuenta con la posibilidad de escalar la cantidad de locaciones discretas muy por encima de otros enfoques, permite predecir y prevenir escenarios de violación de asunciones que podría llevar a fallos en la misión, y adaptar la misión del VANT en vuelo