• DocumentCode
    1318502
  • Title

    Correct, Reactive, High-Level Robot Control

  • Author

    Kress-Gazit, Hadas ; Wongpiromsarn, Tichakorn ; Topcu, Ufuk

  • Author_Institution
    Sibely Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA
  • Volume
    18
  • Issue
    3
  • fYear
    2011
  • Firstpage
    65
  • Lastpage
    74
  • Abstract
    In this article, we presented an overview of how temporal logic synthesis, coupled with abstractions and continuous bisimilar controllers, can be used to generate high-level, reactive robot control. We illustrated the ideas using the DUC mission, and we presented two approaches to deal with the inherent state explosion problem.
  • Keywords
    mobile robots; temporal logic; DARPA urban challenge; DUC mission; continuous bisimilar controllers; correct reactive high-level robot control; state explosion problem; temporal logic synthesis; Collision avoidance; Intelligent transportation systems; Navigation; US Department of Defense; Urban areas;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/MRA.2011.942116
  • Filename
    6016593
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1318502