Title :
Correct high-level robot control from structured English
Author :
Jing, Gangyuan ; Finucane, Cameron ; Raman, Vasumathi ; Kress-Gazit, Hadas
Author_Institution :
Cornell Univ., Ithaca, NY, USA
Abstract :
The Linear Temporal Logic MissiOn Planning (LTLMoP) toolkit is a software package designed to generate a controller that guarantees a robot satisfies a task specification written by the user in structured English. The controller can be implemented on either a simulated or physical robot. This video illustrates the use of LTLMoP to generate a correct-by-construction robot controller. Here, an Aldebaran Nao humanoid robot carries out tasks as a worker in a simplified grocery store scenario.
Keywords :
control engineering computing; humanoid robots; software packages; temporal logic; Aldebaran Nao humanoid robot; LTLMoP toolkit; correct high-level robot control; correct-by-construction robot controller; grocery store scenario; linear temporal logic mission planning toolkit; physical robot; simulated robot; software package; structured English; task specification; Legged locomotion; Manuals; Planning; Robot control; Robot sensing systems;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225161
