Advertisement

Template-Based Synthesis of Plan Execution Monitors

  • Thomas Reinbacher
  • César Guzmán-Alvarez
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8073)

Abstract

In the robotics domain, the state of the world may change in unexpected ways during execution of a task. From a planning perspective, these discrepancies may render the currently executed plan invalid and thus need to be detected as soon as possible. We tackle this problem by translating the problem of plan execution monitoring to a runtime verification problem. We propose a template based framework that allows detecting changes of the state during both plan generation and plan execution. We integrated our approach into a domain-independent platform for planning, executing, and monitoring.

Keywords

Temporal Logic Linear Temporal Logic Plan Execution Runtime Verification Planetary Rover 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Alur, R., Henzinger, T.A.: Real-time Logics: Complexity and Expressiveness. In: LICS, pp. 390–401. IEEE (1990)Google Scholar
  2. 2.
    Alur, R., Henzinger, T.: Logics and models of real time: A survey. In: Huizing, C., de Bakker, J.W., Rozenberg, G., de Roever, W.-P. (eds.) REX 1991. LNCS, vol. 600, pp. 74–106. Springer, Heidelberg (1992)CrossRefGoogle Scholar
  3. 3.
    Ambros-Ingerson, J.A., Steel, S.: Integrating planning, execution and monitoring. In: Proceedings of the AAAI, pp. 83–88 (1988)Google Scholar
  4. 4.
    Baier, C., Katoen, J.P.: Principles of Model Checking. The MIT Press (2008)Google Scholar
  5. 5.
    Barringer, H., Falcone, Y., Finkbeiner, B., Havelund, K., Lee, I., Pace, G., Roşu, G., Sokolsky, O., Tillmann, N. (eds.): RV 2010. LNCS, vol. 6418. Springer, Heidelberg (2010)Google Scholar
  6. 6.
    Basin, D., Klaedtke, F., Zălinescu, E.: Algorithms for monitoring real-time properties. In: Khurshid, S., Sen, K. (eds.) RV 2011. LNCS, vol. 7186, pp. 260–275. Springer, Heidelberg (2012)CrossRefGoogle Scholar
  7. 7.
    Basin, D.A., Klaedtke, F., Müller, S., Pfitzmann, B.: Runtime monitoring of metric first-order temporal properties. In: FSTTCS, pp. 49–60 (2008)Google Scholar
  8. 8.
    Divakaran, S., D’Souza, D., Mohan, M.R.: Conflict-tolerant real-time specifications in metric temporal logic. In: TIME, pp. 35–42 (2010)Google Scholar
  9. 9.
    Erann Gat, J.F., Miller, D.: Planning for execution monitoring on a planetary rover. In: Proceedings of the Space Operations Automation and Robotics Workshop (1990)Google Scholar
  10. 10.
    Fikes, R.E., Hart, P.E., Nilsson, N.J.: Learning and executing generalized robot plans. In: Readings in Knowledge Acquisition and Learning, pp. 485–503. Morgan Kaufmann Publishers Inc. (1993)Google Scholar
  11. 11.
    Fritz, C., McIlraith, S.A.: Monitoring plan optimality during execution. In: ICAPS, pp. 144–151 (2007)Google Scholar
  12. 12.
    Gat, E., Slack, M.G., Miller, D.P., Fiby, R.: Path planning and execution monitoring for a planetary rover. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 20–25 (1990)Google Scholar
  13. 13.
    Geilen, M.: An improved on-the-fly tableau construction for a real-time temporal logic. In: Hunt Jr., W.A., Somenzi, F. (eds.) CAV 2003. LNCS, vol. 2725, pp. 394–406. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  14. 14.
    Gianni, M., Papadakis, P., Pirri, F., Liu, M., Pomerleau, F., Colas, F., Zimmermann, K., Svoboda, T., Petricek, T., Kruijff, G.J., Khambhaita, H., Zender, H.: A unified framework for planning and execution-monitoring of mobile robots. In: PAMR. AAAI, AAAI Press (August 2011)Google Scholar
  15. 15.
    Kvarnström, J., Heintz, F., Doherty, P.: A temporal logic-based planning and execution monitoring system. In: ICAPS, pp. 198–205 (2008)Google Scholar
  16. 16.
    Maler, O., Nickovic, D., Pnueli, A.: Real time temporal logic: Past, present, future. In: Pettersson, P., Yi, W. (eds.) FORMATS 2005. LNCS, vol. 3829, pp. 2–16. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  17. 17.
    Maler, O., Nickovic, D., Pnueli, A.: On synthesizing controllers from bounded-response properties. In: Damm, W., Hermanns, H. (eds.) CAV 2007. LNCS, vol. 4590, pp. 95–107. Springer, Heidelberg (2007)CrossRefGoogle Scholar
  18. 18.
    Maler, O., Nickovic, D., Pnueli, A.: Checking temporal properties of discrete, timed and continuous behaviors. In: Avron, A., Dershowitz, N., Rabinovich, A. (eds.) Trakhtenbrot/Festschrift. LNCS, vol. 4800, pp. 475–505. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  19. 19.
    Reinbacher, T., Függer, M., Brauer, J.: Real-time runtime verification on chip. In: Qadeer, S., Tasiran, S. (eds.) RV 2012. LNCS, vol. 7687, pp. 110–125. Springer, Heidelberg (2013)CrossRefGoogle Scholar
  20. 20.
    Schumann, J., Mengshoel, O.J., Srivastava, A.N., Darwiche, A.: Towards software health management with Bayesian networks. In: FoSER, pp. 331–336 (2010)Google Scholar
  21. 21.
    Thati, P., Roşu, G.: Monitoring Algorithms for Metric Temporal Logic specifications. ENTCS 113, 145–162 (2005)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Thomas Reinbacher
    • 1
  • César Guzmán-Alvarez
    • 2
  1. 1.Embedded Computing Systems GroupVienna University of TechnologyAustria
  2. 2.Universidad Politecnica de ValenciaSpain

Personalised recommendations