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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
CALTECH, Dept Control & Dynam Syst, Pasadena, CA 91125 USA..
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 6039-6046Conference paper, Published paper (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
IEEE , 2017. p. 6039-6046
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-225808ISI: 000426978205096ISBN: 978-1-5386-2682-5 OAI: oai:DiVA.org:kth-225808DiVA, id: diva2:1196039
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

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Colledanchise, Michele

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  • apa
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  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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  • asciidoc
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