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Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks- [electronic resource]
Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214100056
- ISBN
- 9798379711894
- DDC
- 629.8
- 저자명
- Gundana, David.
- 서명/저자
- Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks - [electronic resource]
- 발행사항
- [S.l.]: : Cornell University., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(150 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 84-12, Section: B.
- 주기사항
- Advisor: Kress-Gazit, Hadas.
- 학위논문주기
- Thesis (Ph.D.)--Cornell University, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약High-level specifications are used by researchers to describe and provide autonomy for complex robotics tasks that require planning and coordination between robots and the environment in which they operate. Examples of complex robotic tasks that can be described by high-level specifications include patrolling a large area, searching an abandoned building, and guiding people through unknown environments. These tasks may contain time constraints and require response by the robots in the system to external environment events such as alarms or other signals.This dissertation focuses on describing and satisfying timed high-level specifications for single and multi-robot systems. First, to describe these high-level specifications we propose a new specification language named Event-based Signal Temporal Logic (STL) which encodes tasks with timing constraints that are reactive to uncontrolled environment events. Next, to satisfy these tasks we propose a control synthesis framework for single and multi-robot systems. Current solutions for satisfying similar tasks require solving computationally expensive problems and place assumptions on the environment and adversaries present where the robots operate. This approach to Event-based STL tasks combines automata based synthesis and Control Barrier Functions to produce robot behaviors that satisfy the specification when possible given the state of the environment. This reduces the computational complexity allowing for a higher sampling rate which is necessary to satisfy reactive tasks. During an execution of a specification, the system gives automatically generated feedback in the form of pre-failure warnings to users. This feedback gives insight as to why a specification may be violated in the future. In current approaches, it is often not clear why or what may cause a robotic system to not be able to satisfy a task as intended. This becomes more problematic for complex systems that contain several different types of constraints and tasks that must be satisfied. The feedback and pre-failure warnings described in this dissertation aim to increase the ability of operators to troubleshoot and understand issues that may cause a specification to be violated.Using pre-failure warnings, and the work described in this dissertation, a user may modify currently executing Event-based STL specifications. Allowing modifications to a specification gives the user the opportunity to change the desired behavior of a task in response to potential future violations, changes to the environment, or user-defined task changes. In cases where a modification may not result in the desired behavior of the system, we provide feedback to the user and suggest alternative modifications possible under the defined grammar. The effectiveness of this new specification language, control synthesis and modification framework, and automated feedback generation are demonstrated through simulated and physical executions of single and multi-robot systems satisfying Event-based STL specifications in complex environments.
- 일반주제명
- Robotics.
- 일반주제명
- Computer science.
- 키워드
- Robotic tasks
- 키워드
- Troubleshoot
- 키워드
- Complex systems
- 기타저자
- Cornell University Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 84-12B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008240612s2023 us |||||||||||||||c||eng d■001000016931639
■00520240214100056
■006m o d
■007cr#unu||||||||
■020 ▼a9798379711894
■035 ▼a(MiAaPQ)AAI30318319
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aGundana, David.▼0(orcid)0000-0001-6873-4842
■24510▼aEvent-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks▼h[electronic resource]
■260 ▼a[S.l.]:▼bCornell University. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(150 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 84-12, Section: B.
■500 ▼aAdvisor: Kress-Gazit, Hadas.
■5021 ▼aThesis (Ph.D.)--Cornell University, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aHigh-level specifications are used by researchers to describe and provide autonomy for complex robotics tasks that require planning and coordination between robots and the environment in which they operate. Examples of complex robotic tasks that can be described by high-level specifications include patrolling a large area, searching an abandoned building, and guiding people through unknown environments. These tasks may contain time constraints and require response by the robots in the system to external environment events such as alarms or other signals.This dissertation focuses on describing and satisfying timed high-level specifications for single and multi-robot systems. First, to describe these high-level specifications we propose a new specification language named Event-based Signal Temporal Logic (STL) which encodes tasks with timing constraints that are reactive to uncontrolled environment events. Next, to satisfy these tasks we propose a control synthesis framework for single and multi-robot systems. Current solutions for satisfying similar tasks require solving computationally expensive problems and place assumptions on the environment and adversaries present where the robots operate. This approach to Event-based STL tasks combines automata based synthesis and Control Barrier Functions to produce robot behaviors that satisfy the specification when possible given the state of the environment. This reduces the computational complexity allowing for a higher sampling rate which is necessary to satisfy reactive tasks. During an execution of a specification, the system gives automatically generated feedback in the form of pre-failure warnings to users. This feedback gives insight as to why a specification may be violated in the future. In current approaches, it is often not clear why or what may cause a robotic system to not be able to satisfy a task as intended. This becomes more problematic for complex systems that contain several different types of constraints and tasks that must be satisfied. The feedback and pre-failure warnings described in this dissertation aim to increase the ability of operators to troubleshoot and understand issues that may cause a specification to be violated.Using pre-failure warnings, and the work described in this dissertation, a user may modify currently executing Event-based STL specifications. Allowing modifications to a specification gives the user the opportunity to change the desired behavior of a task in response to potential future violations, changes to the environment, or user-defined task changes. In cases where a modification may not result in the desired behavior of the system, we provide feedback to the user and suggest alternative modifications possible under the defined grammar. The effectiveness of this new specification language, control synthesis and modification framework, and automated feedback generation are demonstrated through simulated and physical executions of single and multi-robot systems satisfying Event-based STL specifications in complex environments.
■590 ▼aSchool code: 0058.
■650 4▼aRobotics.
■650 4▼aComputer science.
■653 ▼aRobotic tasks
■653 ▼aMulti-robot systems
■653 ▼aTroubleshoot
■653 ▼aComplex systems
■653 ▼aControl synthesis
■690 ▼a0771
■690 ▼a0984
■690 ▼a0800
■71020▼aCornell University▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g84-12B.
■773 ▼tDissertation Abstract International
■790 ▼a0058
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16931639▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
