Robust degradation and enhancement of robot mission behaviour in unpredictable environments
Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumpt...
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| Acceso en línea: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97814503_v_n_p26_DIppolito http://hdl.handle.net/20.500.12110/paper_97814503_v_n_p26_DIppolito |
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paper:paper_97814503_v_n_p26_DIppolito2023-06-08T16:37:32Z Robust degradation and enhancement of robot mission behaviour in unpredictable environments Braberman, Víctor Adrián Controller synthesis Self-adaptive systems Adaptive systems Control theory Controllers Robots Software engineering Controller synthesis Environment models Graceful degradation Logic-based approach Progressive enhancement Self-adaptive system Simplifying assumptions Unpredictable environments Adaptive control systems Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumptions are inevitable to reduce complexity and provide mission-level guarantees; no plan can guarantee results in a model of a world in which everything can go wrong. In this paper, we show how our approach, which reduces reliance on a single model by introducing a stack of models, can endow systems with incremental guarantees based on increasingly strengthened assumptions, supporting graceful degradation when the environment does not behave as expected, and progressive enhancement when it does. © 2015 ACM. Fil:Braberman, V. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. 2015 https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97814503_v_n_p26_DIppolito http://hdl.handle.net/20.500.12110/paper_97814503_v_n_p26_DIppolito |
| institution |
Universidad de Buenos Aires |
| institution_str |
I-28 |
| repository_str |
R-134 |
| collection |
Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) |
| topic |
Controller synthesis Self-adaptive systems Adaptive systems Control theory Controllers Robots Software engineering Controller synthesis Environment models Graceful degradation Logic-based approach Progressive enhancement Self-adaptive system Simplifying assumptions Unpredictable environments Adaptive control systems |
| spellingShingle |
Controller synthesis Self-adaptive systems Adaptive systems Control theory Controllers Robots Software engineering Controller synthesis Environment models Graceful degradation Logic-based approach Progressive enhancement Self-adaptive system Simplifying assumptions Unpredictable environments Adaptive control systems Braberman, Víctor Adrián Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| topic_facet |
Controller synthesis Self-adaptive systems Adaptive systems Control theory Controllers Robots Software engineering Controller synthesis Environment models Graceful degradation Logic-based approach Progressive enhancement Self-adaptive system Simplifying assumptions Unpredictable environments Adaptive control systems |
| description |
Temporal logic based approaches that automatically generate controllers have been shown to be useful for mission level planning of motion, surveillance and navigation, among others. These approaches critically rely on the validity of the environment models used for synthesis. Yet simplifying assumptions are inevitable to reduce complexity and provide mission-level guarantees; no plan can guarantee results in a model of a world in which everything can go wrong. In this paper, we show how our approach, which reduces reliance on a single model by introducing a stack of models, can endow systems with incremental guarantees based on increasingly strengthened assumptions, supporting graceful degradation when the environment does not behave as expected, and progressive enhancement when it does. © 2015 ACM. |
| author |
Braberman, Víctor Adrián |
| author_facet |
Braberman, Víctor Adrián |
| author_sort |
Braberman, Víctor Adrián |
| title |
Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| title_short |
Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| title_full |
Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| title_fullStr |
Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| title_full_unstemmed |
Robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| title_sort |
robust degradation and enhancement of robot mission behaviour in unpredictable environments |
| publishDate |
2015 |
| url |
https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_97814503_v_n_p26_DIppolito http://hdl.handle.net/20.500.12110/paper_97814503_v_n_p26_DIppolito |
| work_keys_str_mv |
AT brabermanvictoradrian robustdegradationandenhancementofrobotmissionbehaviourinunpredictableenvironments |
| _version_ |
1768545854943133696 |