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One of the important challenges in robotics is the automatic synthesis of provably correct controllers from high level specifications. One class of such algorithms operates in two steps: (i) high level discrete controller synthesis and (ii) low level continuous controller synthesis. In this class of algorithms, when phase (i) fails, then it is desirable to(More)
In this paper, we study the problem of revising Linear Temporal Logic (LTL) formulas that capture specifications for optimal planning over weighted transition systems. Namely, it is assumed that the model of the system is a weighted finite state transition system. The LTL specification captures the system requirements which must be satisfied by a plan which(More)
As robots are being integrated into our daily lives, it becomes necessary to provide guarantees of safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not all(More)
We study the problem of revising specifications with preferences for automata based control synthesis problems. In this class of revision problems, the user provides a numerical ranking of the desirability of the subgoals in their specifications. When the specification cannot be satisfied on the system, then our algorithms automatically revise the(More)
Cooperative pathfinding is often addressed in one of two ways in the literature. In fully coupled approaches, robots are considered together and the plans for all robots are constructed simultaneously. In decoupled approaches, the plans are constructed only for a subset of robots at a time. While decoupled approaches can be much faster than fully coupled(More)
Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How(More)
i ABSTRACT This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots(More)
As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the requirements are expressed as temporal logic specifications. However, in real-life scenarios, it is to be expected that not(More)
Objective of this thesis project is to build a prototype using Linear Temporal Logic specifications for generating a 2D motion plan commanding an iRobot to fulfill the specifications. This thesis project was created for Cyber Physical Systems Lab in Arizona State University. The end product of this thesis is creation of a software solution which can be used(More)