Transcription
onsVasuRamanCameronFinucaneHadasKress- ‐GazitCornellUniversity
High- ‐LevelTasksImages: http://www.popsci.com/files/imagecache/article image y.jpg
UsualApproachHard- ‐codehigh- ‐levelaspectsPath- ‐planningduringexecu;on
UsualApproachHard- ‐codehigh- ‐levelaspectsPath- iscretesoluBonCon;nuouslyimplementdiscretesoluBon
dControllerSimulaBonPhysicalRobot
dControllerSimulaBonPhysicalRobot
Example:fastcamera,slowmo;on- Robot starts in region r1 with the camera offjr1 pcamera- Activate the camera if and only if you see a person (p person ,pcamera )- Go to r2 infinitely often (jr2 )
Example:fastcamera,slowmo;on personq₂q₀r1 camera personr2 camerapersonpersonr2camera personpersonq₁- Robot starts in region r1 with the camera offjr1 pcamera- Activate the camera if and only if you see a person (p person ,pcamera )- Go to r2 infinitely often (jr2 )
Con;nuousExecu;onr1 camerapersonq₀r2cameraq₁– Camera turns on– Motion from r1 to r2
OriginalApproach:ac;onsa"ermo;onpersonr1 camerar2cameraq₀q₁Motion from r1 to r2Camera turns on10Distance from r2 501Camera readiness01r201cameraTime0024q06 q0f s8q110
Whyisthisundesirable?- ‐DelayedreacBvityr1robotperson entersfield of viewr2trajectory (camera off )trajectory (camera on)- ‐PotenBallyunsafestates
Alterna;veApproach:simultaneousac;onspersonr1 camerar2cameraq₀q₁Motion from r1 to r2Camera turns on10Distance from r2 501Camera readiness01r201cameraTime00q024q0f s̄68q110
Whyisthisundesirable?- ‐- PRobototenBallyunsafeexecuBonsstarts in region r1 with the camera offjr1 pcamerar1camera- Activate the cameraif and onlyr1r2 if you see a personp person , (pcamera )- Go to r2 infinitelyoftenrobot enters(jrperson)2trajectory (camera off )trajectory (camera on)field of viewDo not activate the camera in r1 ( (pcamera pr1 ))
Whatwereallywant:Goal:10Distance from r2 501Camera readiness01r201camera0Time 0q024q0f s̄6810q1- synthesis
sHybridControllerSimulaBonPhysicalRobot
SynthesisforFast/SlowAc;ons“Slow” motion, “Fast” everything elsepersonr1 te
rSimulaBonPhysicalRobot
FutureWork- inghand–MoBonbetweenregions- ntcontrollerexecuBonduraBons
(cpf37@cornell.edu)HadasKress- oP:hVp://ltlmop.github.com/(GPL)
Hardcode % highlevel aspects% Path3planning% during) execuon) Usual)Approach) Recent)Approaches)–formal)method
