Enhancing tolerance to unexpected jumps in GR(1) games
Sumanth Dathathri, Scott C. Livingston, Richard Murray

Citation
Sumanth Dathathri, Scott C. Livingston, Richard Murray. "Enhancing tolerance to unexpected jumps in GR(1) games". Talk or presentation, 26, October, 2016; Poster presented at the 2016 TerraSwarm Annual Meeting.

Abstract
When used as part of a hybrid controller, finite-memory strategies synthesized from linear-time temporal logic (LTL) specifications rely on an accurate dynamics model in order to ensure correctness of trajectories. In the presence of uncertainty about the underlying model, there may exist unexpected trajectories that manifest as unexpected transitions under control of the strategy. While some disturbances can be captured by augmenting the dynamics model, such approaches may be conservative in that bisimulations may fail to exist for which strategies can be synthesized. We consider games of the GR(1) fragment of LTL, and we characterize the tolerance of hybrid controllers to perturbations that appear as unexpected jumps (transitions) to states in the discrete strategy part of the controller. As a first step, we show robustness to certain unexpected transitions that occur in a finite manner, i.e., despite a certain number of unexpected jumps, the sequence of states obtained will still meet a stricter specification and hence the original specification. Additionally, we propose algorithms to improve robustness by increasing tolerance to additional disturbances.

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Citation formats

• HTML

  Sumanth Dathathri, Scott C. Livingston, Richard Murray.
  <a
  href="http://www.terraswarm.org/pubs/885.html"><i>Enhancing
  tolerance to unexpected jumps in GR(1)
  games</i></a>, Talk or presentation,  26,
  October, 2016; Poster presented at the <a
  href="http://terraswarm.org/conferences/16/annual"
  >2016 TerraSwarm Annual Meeting</a>.

• Plain text

  Sumanth Dathathri, Scott C. Livingston, Richard Murray.
  "Enhancing tolerance to unexpected jumps in GR(1)
  games". Talk or presentation,  26, October, 2016;
  Poster presented at the <a
  href="http://terraswarm.org/conferences/16/annual"
  >2016 TerraSwarm Annual Meeting</a>.

• BibTeX

  @presentation{DathathriLivingstonMurray16_EnhancingToleranceToUnexpectedJumpsInGR1Games,
      author = {Sumanth Dathathri and Scott C. Livingston and
                Richard Murray},
      title = {Enhancing tolerance to unexpected jumps in GR(1)
                games},
      day = {26},
      month = {October},
      year = {2016},
      note = {Poster presented at the <a
                href="http://terraswarm.org/conferences/16/annual"
                >2016 TerraSwarm Annual Meeting</a>},
      abstract = {When used as part of a hybrid controller,
                finite-memory strategies synthesized from
                linear-time temporal logic (LTL) specifications
                rely on an accurate dynamics model in order to
                ensure correctness of trajectories. In the
                presence of uncertainty about the underlying
                model, there may exist unexpected trajectories
                that manifest as unexpected transitions under
                control of the strategy. While some disturbances
                can be captured by augmenting the dynamics model,
                such approaches may be conservative in that
                bisimulations may fail to exist for which
                strategies can be synthesized. We consider games
                of the GR(1) fragment of LTL, and we characterize
                the tolerance of hybrid controllers to
                perturbations that appear as unexpected jumps
                (transitions) to states in the discrete strategy
                part of the controller. As a first step, we show
                robustness to certain unexpected transitions that
                occur in a finite manner, i.e., despite a certain
                number of unexpected jumps, the sequence of states
                obtained will still meet a stricter specification
                and hence the original specification.
                Additionally, we propose algorithms to improve
                robustness by increasing tolerance to additional
                disturbances.},
      URL = {http://terraswarm.org/pubs/885.html}
  }
  

Posted by Sumanth Dathathri on 31 Oct 2016.
Groups: tools