A Temporal Logic-Based Planning and Execution Monitoring System
Kvarnström, Jonas Heintz, Fredrik Doherty, Patrick
2008 (English)In: Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), Menlo Park, California, USA: AAAI Press, 2008, 198-Conference paper (Refereed)
As no plan can cover all possible contingencies, the ability to detect failures during plan execution is crucial to the robustness of any autonomous system operating in a dynamic and uncertain environment. In this paper we present a general planning and execution monitoring system where formulas in an expressive temporal logic specify the desired behavior of a system and its environment. A unified domain description for planning and monitoring provides a solid shared declarative semantics permitting the monitoring of both global and operator-specific conditions. During plan execution, an execution monitor subsystem detects violations of monitor formulas in a timely manner using a progression algorithm on incrementally generated partial logical models. The system has been integrated on a fully deployed autonomous unmanned aircraft system. Extensive empirical testing has been performed using a combination of actual flight tests and hardware-in-the-loop simulations in a number of different mission scenarios.
National CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-44563Local ID: 77102ISBN: 978-1-57735-386-7ISBN: 978-1-57735-387-4OAI: oai:DiVA.org:liu-44563DiVA: diva2:265425