论文标题
控制针对MTL约束的Golog程序
Controlling Golog Programs against MTL Constraints
论文作者
论文摘要
尽管Golog是一种控制机器人高级行为的表现力的编程语言，但在真正的机器人系统上使用通常是乏味的。在实际的机器人上，用户需要考虑低级详细信息，例如启用和禁用硬件组件，例如，摄像机检测对象以抓握。换句话说，高级操作通常在低级平台上构成隐式时间约束，这些平台通常独立于要执行的具体程序。在本文中，我们建议通过将它们建模为MTL公式，以明确这些约束，该公式将执行某些低级平台操作以外，除了主要程序之外。根据定时自动机控制器合成的结果，我们描述了一种合成控制器的方法，该控制器同时同时执行高级程序和低级平台操作，以满足MTL规范。这使用户无需考虑低级操作而专注于高级行为。我们通过时钟向Golog提出扩展，以及所需的理论基础以及可决定性结果。
While Golog is an expressive programming language to control the high-level behavior of a robot, it is often tedious to use on a real robotic system. On an actual robot, the user needs to consider low-level details, such as enabling and disabling hardware components, e.g., a camera to detect objects for grasping. In other words, high-level actions usually pose implicit temporal constraints on the low-level platform, which are typically independent of the concrete program to be executed. In this paper, we propose to make these constraints explicit by modeling them as MTL formulas, which enforce the execution of certain low-level platform operations in addition to the main program. Based on results from timed automata controller synthesis, we describe a method to synthesize a controller that executes both the high-level program and the low-level platform operations concurrently in order to satisfy the MTL specification. This allows the user to focus on the high-level behavior without the need to consider low-level operations. We present an extension to Golog by clocks together with the required theoretical foundations as well as decidability results.
