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AIPS
2008

A Temporal Logic-Based Planning and Execution Monitoring System

9 years 20 days ago
A Temporal Logic-Based Planning and Execution Monitoring System
As no plan can cover all possible contingencies, the ability to detect failures during plan execution is crucial to the robustness of any autonomous system operating in a dynamic and uncertain environment. In this paper we present a general planning and execution monitoring system where formulas in an expressive temporal logic specify the desired behavior of a system and its environment. A unified domain description for planning and monitoring provides a solid shared declarative semantics permitting the monitoring of both global and operator-specific conditions. During plan execution, an execution monitor subsystem detects violations of monitor formulas in a timely manner using a progression algorithm on incrementally generated partial logical models. The system has been integrated on a fully deployed autonomous unmanned aircraft system. Extensive empirical testing has been performed using a combination of actual flight tests and hardware-in-the-loop simulations in a number of differe...
Jonas Kvarnström, Fredrik Heintz, Patrick Doh
Added 02 Oct 2010
Updated 02 Oct 2010
Type Conference
Year 2008
Where AIPS
Authors Jonas Kvarnström, Fredrik Heintz, Patrick Doherty
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