## Revision of specification automata under quantitative preferences,” Cornell University Library arXiv.org (2014)

Citations: | 1 - 0 self |

### Citations

1122 | Planning Algorithms
- LaValle
- 2006
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Citation Context .... The importance of the weak optimality principle being satisfied is that label correcting and label setting algorithms can be applied to such problems [18]. Dijkstra’s algorithm is such an algorithm =-=[19]-=- and, thus, it can provide an exact solution to the problem. Now, we proceed to the Min-Sum preference problem. Given a path p = vsv1v2 . . . vf on GA with vf ∈ Vf , we define the sum-preference level... |

585 | Introduction to Algorithms, 2nd ed - Cormen, Leiserson, et al. - 2001 |

96 |
Choosing objectives in oversubscription planning.
- Smith
- 2004
(Show Context)
Citation Context ...lores its environment is studied in [11]. In the context of general planners, the problem of finding good excuses on why the planning failed has been studied in [12]. Over-Subscription Planning (OSP) =-=[13]-=- and Partial Satisfaction Planning (PSP) [14] are also very related problems. The aforementioned approaches do not consider extended goals in LTL. II. PRELIMINARIES In this paper, we work with discret... |

58 | Planning with qualitative temporal preferences
- Bienvenu, Fritz, et al.
- 2006
(Show Context)
Citation Context ...r the revision will take place. In [7], the graph to be used for the revision must be constructed as a separate step. The problem of LTL planning with qualitative preferences has been studied in [8], =-=[9]-=- (see also the references therein for more research in this direction). As opposed to revision problem, planning with preferences is based on the fact that there are many satisfiable plans and, thus, ... |

58 | On a multicriteria shortest path problem
- Martins
- 1984
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Citation Context ...em 2 is converted into the following optimization problem: p∗ = arg min p∈Paths(GA) θ(p) (1) And, thus, the revision will be R = ∪(vi,vi+1)∈p∗Λ(vi, vi+1). Now, we recall the weak optimality principle =-=[18]-=-. Definition 8 (Weak optimality principle): There is an optimal path formed by optimal subpaths. Proposition 1: The graph search equivalent of Problem 2 satisfies the weak optimality principle. The im... |

55 | Effective approaches for partial satisfaction (over-subscription) planning.
- Briel, Nigenda, et al.
- 2004
(Show Context)
Citation Context ...the context of general planners, the problem of finding good excuses on why the planning failed has been studied in [12]. Over-Subscription Planning (OSP) [13] and Partial Satisfaction Planning (PSP) =-=[14]-=- are also very related problems. The aforementioned approaches do not consider extended goals in LTL. II. PRELIMINARIES In this paper, we work with discrete abstractions (Finite State Machines) of the... |

51 | Temporal logic motion planning for dynamic robots,”
- Fainekos, Girard, et al.
- 2009
(Show Context)
Citation Context ...e aforementioned approaches do not consider extended goals in LTL. II. PRELIMINARIES In this paper, we work with discrete abstractions (Finite State Machines) of the continuous robotic control system =-=[15]-=-. Each state of the Finite State Machine (FSM) T is labeled by a number of symbols from a set Π = {pi0, pi1, . . . , pin} that represent regions in the configuration space of the robot or, more genera... |

39 | Translating structured English to robot controllers
- Kress-Gazit, Fainekos, et al.
- 2008
(Show Context)
Citation Context ...ecent overview). The wide spread adoption of LTL can be attributed to the tractable algorithms that can solve automation problems related to robotics (see [1]) and the connections to natural language =-=[2]-=- and other intuitive user interfaces [3]. In order for LTL-based control synthesis methods to move outside research labs and be widely adopted by the robotics community as a specification language of ... |

21 | Coming up with good excuses: What to do when no plan can be found
- Göbelbecker, Keller, et al.
(Show Context)
Citation Context ...cifications on-the-fly as the robot explores its environment is studied in [11]. In the context of general planners, the problem of finding good excuses on why the planning failed has been studied in =-=[12]-=-. Over-Subscription Planning (OSP) [13] and Partial Satisfaction Planning (PSP) [14] are also very related problems. The aforementioned approaches do not consider extended goals in LTL. II. PRELIMINAR... |

20 | Controlling wild bodies using linear temporal logic
- BOBADILLA, SANCHEZ, et al.
(Show Context)
Citation Context ...ms for the Revision Problem with Preference (ARPP). It is based on the Approximation Algorithm of the Minimal Revision Problem (AAMRP) [7] which is in turn based on Dijkstra’s shortest path algorithm =-=[24]-=-. The main difference from AAMRP is that instead of finding the minimum number of atomic propositions that must be removed from each edge on the paths of the graph GA, ARPP tracks paths having atomic ... |

16 | Analyzing unsynthesizable specifications for high-level robot behavior using LTLMoP,” in Computer Aided Verification.
- Raman, Kress-Gazit
- 2011
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Citation Context ...ion). As opposed to revision problem, planning with preferences is based on the fact that there are many satisfiable plans and, thus, the most preferable one should be selected. For LTL games, LTLMop =-=[10]-=- was developed to debug unrealizable LTL specifications in reactive planning for robotic applications. The problem of revising LTL specifications on-the-fly as the robot explores its environment is st... |

12 | Robust multi-robot optimal path planning with temporal logic constraints.
- Ulusoy, Smith, et al.
- 2012
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Citation Context ...las by renaming repeated occurrences of atomic propositions in the specification and adding them on the transition system (for details, see [21]). The following example scenario was inspired by [16], =-=[22]-=-, and we will be using LTL as a specification language. Example 1 (Single Robot Data Gathering Task): In this example, we use a simplified road network having three gathering locations and two upload ... |

11 | Revising motion planning under linear temporal logic specifications in partially known workspaces,”
- Guo, Johansson, et al.
- 2013
(Show Context)
Citation Context ...loped to debug unrealizable LTL specifications in reactive planning for robotic applications. The problem of revising LTL specifications on-the-fly as the robot explores its environment is studied in =-=[11]-=-. In the context of general planners, the problem of finding good excuses on why the planning failed has been studied in [12]. Over-Subscription Planning (OSP) [13] and Partial Satisfaction Planning (... |

10 | On the revision problem of specification automata
- Kim, Fainekos, et al.
- 2012
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Citation Context ...trol synthesis methods to move outside research labs and be widely adopted by the robotics community as a specification language of choice, specification debugging tools must be developed as well. In =-=[4]-=-, [5], we studied the theoretical foundations of the specification automata revision problem and we proposed heuristic algorithms for its solution. In [6], we presented a version of the revision probl... |

10 | Approximate solutions for the minimal revision problem of specification automata,”
- Kim, Fainekos
- 2012
(Show Context)
Citation Context ...synthesis methods to move outside research labs and be widely adopted by the robotics community as a specification language of choice, specification debugging tools must be developed as well. In [4], =-=[5]-=-, we studied the theoretical foundations of the specification automata revision problem and we proposed heuristic algorithms for its solution. In [6], we presented a version of the revision problem fo... |

9 |
Fainekos, “Revising temporal logic specifications for motion planning
- E
- 2011
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Citation Context ... := GF(ϕ) ∧ GF(pi), where ϕ := g1 ∨ g2 ∨ g3 and pi := u1 ∨ u2. The following formula can make the robot move from gather locations to upload locations after gathering data: φG := is such an algorithm =-=[23]-=- and, thus, it can provide an exact solution to the problem. Now, we proceed to the Min-Sum preference problem. Given a path p = vsv1v2 . . . vf on GA with vf ∈ Vf , we define the sum-preference level... |

7 | Optimal multi-robot path planning with temporal logic constraints. - Ulusoy, Smith, et al. - 2011 |

6 |
Automatic generation of balletic motions
- LaViers, Egerstedt, et al.
- 2011
(Show Context)
Citation Context ...t satisfies the specification. When a specification B is not satisfiable on a particular system T , the current motion planning and control synthesis methods based on automata theoretic concepts [15]–=-=[17]-=- simply return that the specification is not satisfiable without any other user feedback. In such cases, our previous algorithms [4], [5] can provide as feedback to the user the closest revision under... |

5 |
Minimum-violating planning with conflicting specifications,”
- Tumova, Reyes-Castro, et al.
- 2013
(Show Context)
Citation Context ...on of the problem exactly. Related Research: The problem of revising or resolving conflicting LTL specifications has received considerable attention recently. The closest work to ours is presented in =-=[7]-=-. The authors consider a number of high-level requirements in LTL which not all can be satisfied on the system. Each formula that is satisfied gains some reward. The goal of their algorithm is to maxi... |

4 |
Robot challenges: Toward development of verification and synthesis techniques [errata
- Kress-Gazit
- 2011
(Show Context)
Citation Context ...ratio of the approximation algorithm on random problem instances. I. INTRODUCTION Linear Temporal Logic (LTL) has been widely adopted as a high-level specification language for robotic behaviors (see =-=[1]-=- for a recent overview). The wide spread adoption of LTL can be attributed to the tractable algorithms that can solve automation problems related to robotics (see [1]) and the connections to natural l... |

3 | Automaton-guided controller synthesis for nonlinear systems with temporal logic
- Wolff, Topcu, et al.
- 2013
(Show Context)
Citation Context ...naming repeated occurrences of atomic propositions in the specification and adding them on the transition system. In the future, we will modify algorithms that translate LTL to Büchi automata (e.g., =-=[25]-=-) so that they return the unique place of an atomic proposition in the formula. The following example scenario was inspired by [19], [26]. Example 2 (Single Robot Data Gathering Task): In this example... |

2 | A graphical language for LTL motion and mission planning
- Srinivas, Kermani, et al.
- 2013
(Show Context)
Citation Context ...n of LTL can be attributed to the tractable algorithms that can solve automation problems related to robotics (see [1]) and the connections to natural language [2] and other intuitive user interfaces =-=[3]-=-. In order for LTL-based control synthesis methods to move outside research labs and be widely adopted by the robotics community as a specification language of choice, specification debugging tools mu... |

2 | A non-monotonic goal specification language for planning with preferences - Son, Pontelli, et al. - 2012 |

1 |
specification revision for weighted transition systems
- “Minimal
- 2013
(Show Context)
Citation Context ...ce given a sequence of nodes p, we can verify in polynomial time that p is a path on GA and θ+(p) ≤ K . The problem is NP-hard since we can easily reduce the revision problem without preferences (see =-=[6]-=-) to this one by setting the preference levels of all atomic propositions equal to 1. Then, since all atomic propositions have the same preference level which is 1, it becomes the problem to find the ... |