A Factored Symbolic Approach to Reactive Planning∗
نویسندگان
چکیده
Autonomous systems in uncertain dynamic environments must reconfigure themselves in response to unanticipated events and goals in real-time. To provide a high assurance of real-time embedded systems, fault-aware executable specification and verification of this fault-aware specification are necessary. We present a method for synthesizing an executable code from a fault-aware specification. We approach the problem by framing it as model-based reactive planning. Reactive plans are susceptible to exponential state space explosion. We address this problem through transition-based decomposition by generating compact decomposed goal-directed plans. We further minimize state explosion by adopting a symbolic representation based on Ordered Binary Decision Diagrams. We demonstrate our reactive planner on representative spacecraft subsystem models.
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