Scipediacontent: Scipediacontent moved page Draft Content 498492011 to Topcu et al 2020a

2021-02-03T20:45:34Z

Scipediacontent moved page Draft Content 498492011 to Topcu et al 2020a

Scipediacontent: Created page with " == Abstract == We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a pe..."

2021-02-03T20:45:31Z

Created page with " == Abstract == We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a pe..."

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== Abstract ==

We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available at runtime, into the strategy synthesis in order to improve performance. Existing approaches to utilising such time-varying information require online re-synthesis, which is not computationally feasible in real-time applications. In this paper, we pre-synthesize a set of strategies corresponding to candidate instantiations (pre-specified representative information scenarios). We then propose a novel switching mechanism to dynamically switch between the strategies at runtime while guaranteeing all safety and liveness goals are met. We also characterize bounds on the performance suboptimality. We demonstrate our approach on two examples - robotic motion planning where the likelihood of the position of the robot's goal is updated in real-time, and an air traffic management problem for urban air mobility.

Comment: Presented at ICRA2020

== Original document ==

The different versions of the original document can be found in:

* [http://arxiv.org/abs/2007.16107 http://arxiv.org/abs/2007.16107]

* [http://arxiv.org/pdf/2007.16107 http://arxiv.org/pdf/2007.16107]

* [https://europepmc.org/articles/PMC7592699 https://europepmc.org/articles/PMC7592699]

* [http://xplorestaging.ieee.org/ielx7/9187508/9196508/09196581.pdf?arnumber=9196581 http://xplorestaging.ieee.org/ielx7/9187508/9196508/09196581.pdf?arnumber=9196581],
: [http://dx.doi.org/10.1109/icra40945.2020.9196581 http://dx.doi.org/10.1109/icra40945.2020.9196581]

* [https://dblp.uni-trier.de/db/conf/icra/icra2020.html#BharadwajVDT20 https://dblp.uni-trier.de/db/conf/icra/icra2020.html#BharadwajVDT20],
: [http://eprints.whiterose.ac.uk/159667 http://eprints.whiterose.ac.uk/159667],
: [https://academic.microsoft.com/#/detail/3089566198 https://academic.microsoft.com/#/detail/3089566198]

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Topcu et al 2020a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 498492011 to Topcu et al 2020a

Scipediacontent: Created page with " == Abstract == We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a pe..."