@inproceedings{db02b2d610214f17828b92733f6660db,
title = "Guaranteeing high-level behaviors while exploring partially known maps",
abstract = "This paper presents an approach for automatically synthesizing and re-synthesizing a hybrid controller that guarantees a robot will exhibit a user-defined high-level behavior while exploring a partially known workspace (map). The approach includes dynamically adjusting the discrete abstraction of the workspace as new regions are detected by the robot's sensors, automatically rewriting the specification (formally defined using Linear Temporal Logic) and re-synthesizing the control while preserving the robot state and its history of task completion. The approach is implemented within the LTLMoP toolkit and is demonstrated using a Pioneer 3-DX in the lab.",
author = "Shahar Sarid and Bingxin Xu and Hadas Kress-Gazit",
note = "Publisher Copyright: {\textcopyright} 2013 Massachusetts Institute of Technology.; 8th International Conference on Robotics Science and Systems, RSS 2012 ; Conference date: 09-07-2012 Through 13-07-2012",
year = "2013",
month = jan,
day = "1",
doi = "10.15607/rss.2012.viii.048",
language = "English",
isbn = "9780262519687",
series = "Robotics: Science and Systems",
publisher = "Massachusetts Institute of Technology",
pages = "377--384",
editor = "Paul Newman and Nicholas Roy and Siddhartha Srinivasa",
booktitle = "Robotics",
address = "United States",
}