Minimum-violation LTL Planning with Conflicting Specifications
This addresses the challenge of handling incompatible high-level mission specifications for robotic vehicles, which is an incremental improvement in planning under constraints.
The paper tackles the problem of generating control strategies for robotic vehicles when mission specifications are conflicting or cannot all be satisfied, aiming to find the least-violating strategy by maximizing rewards assigned to each specification. It proposes an algorithm based on automata-based model checking and demonstrates it on a case study.
We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and B must be periodically surveyed," or "None of the vehicles can enter an unsafe region." We focus on instances when all of the given specifications cannot be reached simultaneously due to their incompatibility and/or environmental constraints. We aim to find the least-violating control strategy while considering different priorities of satisfying different parts of the mission. Formally, we consider the missions given in the form of linear temporal logic formulas, each of which is assigned a reward that is earned when the formula is satisfied. Leveraging ideas from the automata-based model checking, we propose an algorithm for finding an optimal control strategy that maximizes the sum of rewards earned if this control strategy is applied. We demonstrate the proposed algorithm on an illustrative case study.