Avoiding forgetfulness: Structured English specifications for high-level robot control with implicit memory

This paper addresses the challenge of incorporating event memory into the automatic synthesis of hybrid controllers for high-level reactive robot behavior. The goal is to provide a natural, concise grammar for specifying high-level tasks that require remembering past events, and to ensure that the required memory is correctly updated during controller execution. To this end, a structured English grammar for specifying high level behavior is provided that automatically performs memory operations, without requiring explicit definition from the specification designer. This grammar admits intuitive, unambiguous specifications for tasks that implicitly use memory for purposes including non-repeated goals, strictly ordered action sequences, etc. The proposed framework also guarantees the correctness of memory operations during continuous execution. The approach is implemented within the LTLMoP toolkit for reactive mission planning.