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Hyperproperties for Robotics: Planning via HyperLTL

Publication ,  Journal Article
Wang, Y; Nalluri, S; Pajic, M
Published in: Proceedings - IEEE International Conference on Robotics and Automation
May 1, 2020

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.

Duke Scholars

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

Publication Date

May 1, 2020

Start / End Page

8462 / 8468
 

Citation

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Wang, Y., Nalluri, S., & Pajic, M. (2020). Hyperproperties for Robotics: Planning via HyperLTL. Proceedings - IEEE International Conference on Robotics and Automation, 8462–8468. https://doi.org/10.1109/ICRA40945.2020.9196874
Wang, Y., S. Nalluri, and M. Pajic. “Hyperproperties for Robotics: Planning via HyperLTL.” Proceedings - IEEE International Conference on Robotics and Automation, May 1, 2020, 8462–68. https://doi.org/10.1109/ICRA40945.2020.9196874.
Wang Y, Nalluri S, Pajic M. Hyperproperties for Robotics: Planning via HyperLTL. Proceedings - IEEE International Conference on Robotics and Automation. 2020 May 1;8462–8.
Wang, Y., et al. “Hyperproperties for Robotics: Planning via HyperLTL.” Proceedings - IEEE International Conference on Robotics and Automation, May 2020, pp. 8462–68. Scopus, doi:10.1109/ICRA40945.2020.9196874.
Wang Y, Nalluri S, Pajic M. Hyperproperties for Robotics: Planning via HyperLTL. Proceedings - IEEE International Conference on Robotics and Automation. 2020 May 1;8462–8468.

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

Publication Date

May 1, 2020

Start / End Page

8462 / 8468