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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  • 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.
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