LiU Electronic Press
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Author:
Kvarnström, Jonas (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Heintz, Fredrik (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Doherty, Patrick (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Title:
A Temporal Logic-Based Planning and Execution Monitoring System
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)
Place of publ.: Menlo Park, California, USA Publisher: AAAI Press
Pages:
198-
Year of publ.:
2008
URI:
urn:nbn:se:liu:diva-44563
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-44563
ISBN:
978-1-57735-386-7, 978-1-57735-387-4
Local ID:
77102
Subject category:
Computer Science
SVEP category:
Computer science
Abstract(en) :

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.

Available from:
2009-10-10
Created:
2009-10-10
Last updated:
2013-08-29
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