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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Detalles Bibliográficos
Autores principales: D'Ippolito, N., Braberman, V., Sykes, D., Uchitel, S., ACM Special Interest Group on Software Engineering (SIGSOFT)
Formato: CONF
Materias:
Controller synthesis
Self-adaptive systems
Adaptive systems
Control theory
Controllers
Robots
Software engineering
Environment models
Graceful degradation
Logic-based approach
Progressive enhancement
Self-adaptive system
Simplifying assumptions
Unpredictable environments
Adaptive control systems
Acceso en línea:http://hdl.handle.net/20.500.12110/paper_97814503_v_n_p26_DIppolito
Aporte de:
Biblioteca Digital - Facultad de Ciencias Exactas y Naturales (UBA) de Universidad de Buenos Aires
id todo:paper_97814503_v_n_p26_DIppolito
record_format dspace
spelling todo:paper_97814503_v_n_p26_DIppolito2023-10-03T16:43:19Z Robust degradation and enhancement of robot mission behaviour in unpredictable environments D'Ippolito, N. Braberman, V. Sykes, D. Uchitel, S. ACM Special Interest Group on Software Engineering (SIGSOFT) 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. CONF info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/2.5/ar 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
D'Ippolito, N.
Braberman, V.
Sykes, D.
Uchitel, S.
ACM Special Interest Group on Software Engineering (SIGSOFT)
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.
format CONF
author D'Ippolito, N.
Braberman, V.
Sykes, D.
Uchitel, S.
ACM Special Interest Group on Software Engineering (SIGSOFT)
author_facet D'Ippolito, N.
Braberman, V.
Sykes, D.
Uchitel, S.
ACM Special Interest Group on Software Engineering (SIGSOFT)
author_sort D'Ippolito, N.
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
url http://hdl.handle.net/20.500.12110/paper_97814503_v_n_p26_DIppolito
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AT sykesd robustdegradationandenhancementofrobotmissionbehaviourinunpredictableenvironments
AT uchitels robustdegradationandenhancementofrobotmissionbehaviourinunpredictableenvironments
AT acmspecialinterestgrouponsoftwareengineeringsigsoft robustdegradationandenhancementofrobotmissionbehaviourinunpredictableenvironments
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