{"id":133,"date":"2015-03-11T11:52:21","date_gmt":"2015-03-11T10:52:21","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=133"},"modified":"2015-07-16T15:28:58","modified_gmt":"2015-07-16T14:28:58","slug":"automatic-synthetisation-of-controller-for-robotic-tasks-from-the-specification-of-state-machine-like-missions-nonlinear-models-of-the-robot-and-a-representation-of-the-robot-workspace","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=133","title":{"rendered":"Automatic synthetis of controllers for robotic tasks from the specification of state-machine-like missions, nonlinear models of the robot and a representation of the robot workspace"},"content":{"rendered":"<h4>Jonathan A. DeCastro and Hadas Kress-Gazit, 2015, <strong>Synthesis of nonlinear continuous controllers for verifiably correct high-level, reactive behaviors<\/strong>, The International Journal of Robotics Research, 34: 378-394, <a href=\"http:\/\/doi.org\/10.1177\/0278364914557736\" target=\"_blank\">DOI: 10.1177\/0278364914557736<\/a>.<\/h4>\n<blockquote><p>Planning robotic missions in environments shared by humans involves designing controllers that are reactive to the environment yet able to fulfill a complex high-level task. This paper introduces a new method for designing low-level controllers for nonlinear robotic platforms based on a discrete-state high-level controller encoding the behaviors of a reactive task specification. We build our method upon a new type of trajectory constraint which we introduce in this paper, reactive composition, to provide the guarantee that any high-level reactive behavior may be fulfilled at any moment during the continuous execution. We generate pre-computed motion controllers in a piecewise manner by adopting a sample-based synthesis method that associates a certificate of invariance with each controller in the sample set. As a demonstration of our approach, we simulate different robotic platforms executing complex tasks in a variety of environments. <\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Jonathan A. DeCastro and Hadas Kress-Gazit, 2015, Synthesis of nonlinear continuous controllers for verifiably correct high-level, reactive behaviors, The International <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=133\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23],"tags":[],"class_list":["post-133","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/133"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=133"}],"version-history":[{"count":3,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/133\/revisions"}],"predecessor-version":[{"id":137,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/133\/revisions\/137"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=133"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=133"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=133"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}