2024/06/03 by Disha Kamale, Kamale, Disha, Cristian-Ioan Vasile +1 · 2 citations
Computer Science · #Logic, Reasoning, and Knowledge #Formal Methods in Verification #Distributed systems and fault tolerance
paper · pdf · doi:10.48550/arxiv.2406.01848
In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are represented as a Weighted Finite-state Edit System and are used to compute a relaxed specification automaton that captures all allowable relaxations of the mission specification and their costs. For synthesis, we introduce a Mixed Integer Linear Programming (MILP) formulation that combines the motion of the team of robots with the relaxed specification automaton. Our approach combines automata-based and MILP-based methods and leverages the strengths of both approaches while avoiding their shortcomings. Specifically, the relaxed specification automaton explicitly accounts for the progress towards satisfaction, and the MILP-based optimization approach avoids the state-space explosion associated with explicit product-automata construction, thereby efficiently solving the problem. The case studies highlight the efficiency of the proposed approach.