Robust Degradation and Enhancement of Robot Mission Behaviour in Unpredictable Environments

BRABERMAN VICTOR; DIPPOLITO R. NICOLAS; DANIEL SYKES; UCHITEL SEBASTIAN

Workshop; 1st International Workshop on Control Theory for Software Engineering,; 2015

Temporal logic based approaches that automatically generatecontrollers have been shown to be useful for mission levelplanning of motion, surveillance and navigation, among others.These approaches critically rely on the validity of theenvironment models used for synthesis. Yet simplifying assumptionsare inevitable to reduce complexity and providemission-level guarantees; no plan can guarantee results in amodel of a world in which everything can go wrong. In thispaper, we show how our approach, which reduces reliance ona single model by introducing a stack of models, can endowsystems with incremental guarantees based on increasinglystrengthened assumptions, supporting graceful degradationwhen the environment does not behave as expected, andprogressive enhancement when it does.