liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
A Temporal Logic-Based Planning and Execution Monitoring System
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)
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.

National Category
Computer Science
URN: urn:nbn:se:liu:diva-44563Local ID: 77102ISBN: 978-1-57735-386-7ISBN: 978-1-57735-387-4OAI: diva2:265425
Available from2009-10-10 Created:2009-10-10 Last updated:2013-08-29

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Kvarnström, JonasHeintz, FredrikDoherty, Patrick
By organisation
The Institute of TechnologyKPLAB - Knowledge Processing Lab
Computer Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 23 hits
ReferencesLink to record
Permanent link

Direct link