Controller Synthesis for Safety Critical Planning

Safety critical planning and execution is a crucial issue in autonomous systems. This paper proposes a methodology for controller synthesis suitable for timeline-based planning and demonstrates its effectiveness in a space domain where robustness of execution is a crucial property. The proposed approach uses Timed Game Automata (TGA) for formal modeling and the UPPAAL-TIGA model checker for controllers synthesis. An experimental evaluation is performed using a real-world control system.

[1]  Nicola Muscettola,et al.  Dynamic Control Of Plans With Temporal Uncertainty , 2001, IJCAI.

[2]  Kevin Cheng,et al.  Rock solid , 2007, INTR.

[3]  A. Cesta,et al.  CONTINUOUS PLANNING AND EXECUTION WITH TIMELINES , 2012 .

[4]  Tristan B. Smith,et al.  EUROPA : A Platform for AI Planning, Scheduling, Constraint Programming, and Optimization , 2012 .

[5]  Nicola Muscettola,et al.  Temporal Dynamic Controllability Revisited , 2005, AAAI.

[6]  Julie A. Shah,et al.  Fast Dynamic Scheduling of Disjunctive Temporal Constraint Networks through Incremental Compilation , 2008, ICAPS.

[7]  Kim G. Larsen,et al.  UPPAAL-Tiga: Time for Playing Games! , 2007, CAV.

[8]  E. Gat.  On Three-Layer Architectures , 1997 .

[9]  Lavindra de Silva,et al.  A Goal-oriented Autonomous Controller for Space Exploration , 2011 .

[10]  Nicola Muscettola,et al.  HSTS: Integrating Planning and Scheduling , 1993 .

[11]  Nicola Muscettola,et al.  Planning in Interplanetary Space: Theory and Practice , 2000, AIPS.

[12]  Amedeo Cesta,et al.  Developing an End-to-End Planning Application from a Timeline Representation Framework , 2009, IAAI.

[13]  Enrico Tronci,et al.  Validation and verification issues in a timeline-based planning system , 2010, The Knowledge Engineering Review.

[14]  Joseph Sifakis,et al.  On the Synthesis of Discrete Controllers for Timed Systems (An Extended Abstract) , 1995, STACS.

[15]  Frederic Py,et al.  A systematic agent framework for situated autonomous systems , 2010, AAMAS.

[16]  Kim G. Larsen,et al.  Efficient On-the-Fly Algorithms for the Analysis of Timed Games , 2005, CONCUR.

[17]  Amedeo Cesta,et al.  Unifying planning and scheduling as timelines in a component-based perspective , 2008 .

[18]  Steve A. Chien,et al.  Timeline-ased Space Operations Scheduling with External Constraints , 2010 .

[19]  A. Cesta,et al.  DDL.1: a formal description of a constraint representation language for physical domains , 1996 .

[20]  Amedeo Cesta,et al.  TGA-Based Controllers for Flexible Plan Execution , 2011, KI.

[21]  Luke Hunsberger,et al.  A Fast Incremental Algorithm for Managing the Execution of Dynamically Controllable Temporal Networks , 2010, 2010 17th International Symposium on Temporal Representation and Reasoning.

[22]  Amedeo Cesta,et al.  A Knowledge Engineering Environment for P & S with Timelines , 2013 .

[23]  Enrico Tronci,et al.  Analyzing Flexible Timeline-based Plans , 2010, ECAI.

[24]  Nicola Muscettola,et al.  IDEA: Planning at the Core of Autonomous Reactive Agents , 2002 .

[25]  Amedeo Cesta,et al.  An Innovative Product for Space Mission Planning: An A Posteriori Evaluation , 2007, ICAPS.