2012/08/29 by Mária Svoreňová, Jana Tůmová, Svorenova, Maria +5 · 1 citation
Computer Science · #FOS: Computer and information sciences #Formal Methods in Verification #Model-Driven Software Engineering Techniques #Robotics (cs.RO) #Software Testing and Debugging Techniques
paper · pdf · doi:10.48550/arxiv.1208.5855
openalex publication_date 2012/08/29 · openalex created_date 2022/10/01 · openalex updated_date 2026/07/28
Our goal in this paper is to plan the motion of a robot in a partitioned\nenvironment with dynamically changing, locally sensed rewards. We assume that\narbitrary assumptions on the reward dynamics can be given. The robot aims to\naccomplish a high-level temporal logic surveillance mission and to locally\noptimize the collection of the rewards in the visited regions. These two\nobjectives often conflict and only a compromise between them can be reached. We\naddress this issue by taking into consideration a user-defined preference\nfunction that captures the trade-off between the importance of collecting high\nrewards and the importance of making progress towards a surveyed region. Our\nsolution leverages ideas from the automata-based approach to model checking. We\ndemonstrate the utilization and benefits of the suggested framework in an\nillustrative example.\n