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dc.contributor.authorTumova, Jana
dc.contributor.authorReyes Castro, Luis Ignacio
dc.contributor.authorKaraman, Sertac
dc.contributor.authorFrazzoli, Emilio
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2013-10-29T13:08:28Z
dc.date.available2013-10-29T13:08:28Z
dc.date.issued2013-06
dc.identifier.isbn978-1-4799-0178-4
dc.identifier.urihttp://hdl.handle.net/1721.1/81823
dc.descriptionOriginal manuscript March 15, 2013en_US
dc.description.abstractWe consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as “Vehicle x must eventually visit a target region and then return to a base,” “Regions A and B must be periodically surveyed,” or “None of the vehicles can enter an unsafe region.” We focus on instances when all of the given specifications cannot be reached simultaneously due to their incompatibility and/or environmental constraints. We aim to find the least-violating control strategy while considering different priorities of satisfying different parts of the mission. Formally, we consider the missions given in the form of linear temporal logic formulas, each of which is assigned a reward that is earned when the formula is satisfied. Leveraging ideas from the automata-based model checking, we propose an algorithm for finding an optimal control strategy that maximizes the sum of rewards earned if this control strategy is applied. We demonstrate the proposed algorithm on an illustrative case study.en_US
dc.description.sponsorshipUnited States. Air Force Office of Scientific Research (Michigan/AFRL Collaborative Center in Control Science Grant FA 8650-07-2-3744)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Grant CNS-1016213)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6579837en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourcearXiven_US
dc.titleMinimum-violation LTL planning with conflicting specificationsen_US
dc.typeArticleen_US
dc.identifier.citationTumova, Jana et al. "Minimum-violation LTL planning with conflicting specifications." IEEE American Control Conference, 2013.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.mitauthorReyes Castro, Luis Ignacioen_US
dc.contributor.mitauthorKaraman, Sertacen_US
dc.contributor.mitauthorFrazzoli, Emilioen_US
dc.contributor.mitauthorRus, Daniela L.en_US
dc.relation.journalProceedings of the 2013 American Control Conference (ACC)en_US
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsTumova, Jana; Reyes Castro, Luis Ignacio; Karaman, Sertac; Frazzoli, Emilio; Rus, Daniela L.en_US
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
dc.identifier.orcidhttps://orcid.org/0000-0002-0505-1400
dc.identifier.orcidhttps://orcid.org/0000-0002-2225-7275
mit.licenseOPEN_ACCESS_POLICYen_US


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