Patching task-level robot controllers based on a local μ-calculus formula


We present a method for mending strategies for GR(1) specifications. Given the addition or removal of edges from the game graph describing a problem (essentially transition rules in a GR(1) specification), we apply a μ-calculus formula to a neighborhood of states to obtain a “local strategy” that navigates around the invalidated parts of an original… (More)
DOI: 10.1109/ICRA.2013.6631229


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