PROSKILL: A formal skill language for acting in robotics
CoRR(2024)
摘要
Acting is an important decisional function for autonomous robots. Acting
relies on skills to implement and to model the activities it oversees:
refinement, local recovery, temporal dispatching, external asynchronous events,
and commands execution, all done online. While sitting between planning and the
robotic platform, acting often relies on programming primitives and an
interpreter which executes these skills. Following our experience in providing
a formal framework to program the functional components of our robots, we
propose a new language, to program the acting skills. This language maps
unequivocally into a formal model which can then be used to check properties
offline or execute the skills, or more precisely their formal equivalent, and
perform runtime verification. We illustrate with a real example how we can
program a survey mission for a drone in this new language, prove some formal
properties on the program and directly execute the formal model on the drone to
perform the mission.
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