ハイパー時相論理HyperLTLによるロボット計画
Hyperproperties for Robotics: Planning via HyperLTL
複数経路間の関係を表すハイパー性質（最適性・ロバスト性・プライバシーなど）をHyperLTLで記述し、離散遷移系上で計画戦略を記号的アプローチで合成する手法を提案した。
著者: Yu Wang, Siddhartha Nalluri, Miroslav Pajic
分類: cs.RO, cs.FL
原文アブストラクト
There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important planning objectives, such as optimality, robustness, and privacy, (maybe implicitly) involve the interrelation between multiple paths. Such objectives are thus hyperproperties, and cannot be expressed with usual temporal logics like the linear temporal logic (LTL). We show that such hyperproperties can be expressed by HyperLTL, an extension of LTL to multiple paths. To handle the complexity of planning with HyperLTL specifications, we introduce a symbolic approach for synthesizing planning strategies on discrete transition systems. Our planning method is evaluated on several case studies.
