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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-Konferensbidrag (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.

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Computer Science
Identifiers
urn:nbn:se:liu:diva-44563 (URN)77102 (Local ID)978-1-57735-386-7 (ISBN)978-1-57735-387-4 (ISBN)oai:DiVA.org:liu-44563 (OAI)
Available from2009-10-10 Created:2009-10-10 Last updated:2013-08-29

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Kvarnström, JonasHeintz, FredrikDoherty, Patrick
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The Institute of TechnologyKPLAB - Knowledge Processing Lab
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