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Synthesis of correct-by-construction behavior trees
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-0289-7424
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-7714-928X
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 6039-6046, article id 8206502Conference paper, Oral presentation only (Refereed)
Abstract [en]

In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admissible environment specifications, an agent model in form of a Finite Transition System and the desired task in form of an LTL formula, we synthesize a BT in polynomial time, that is guaranteed to correctly execute the desired task. To illustrate the approach, we present three examples of increasing complexity.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 6039-6046, article id 8206502
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-224272DOI: 10.1109/IROS.2017.8206502Scopus ID: 2-s2.0-85041952364ISBN: 9781538626825 OAI: oai:DiVA.org:kth-224272DiVA, id: diva2:1190713
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Note

QC 20180315

Available from: 2018-03-15 Created: 2018-03-15 Last updated: 2018-03-15Bibliographically approved

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Colledanchise, MicheleÖgren, Petter

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf