robotics
A Formally Realizable Robot Controller Still Got Stuck
An open pipeline audited synthesized supervisors for deadlocks, protocol failures and unreachable goals.
Summary
An open pipeline audited synthesized supervisors for deadlocks, protocol failures and unreachable goals.
The paper argues that proving a GR(1) robot-supervisor specification realizable is not enough to ensure the resulting controller matches retry intent or can complete its mission. Its ROS 2 FlexBE pipeline analyzes assumptions, synthesizes strategies, audits four structural defect classes, reduces states with a behavior-preservation proof and emits executable machines. Across four case studies, including two quadcopter platforms, one liveness treatment produced executable controllers across both tested encodings while another could permit cycles without intended completion. The auditor is sound and complete only for the four named defect classes, not general liveness.
Why it matters
An open pipeline audited synthesized supervisors for deadlocks, protocol failures and unreachable goals.
Limits and context
- The paper argues that proving a GR(1) robot-supervisor specification realizable is not enough to ensure the resulting controller matches retry intent or can complete its mission.
- The auditor is sound and complete only for the four named defect classes, not general liveness.
Key claims
An open pipeline audited synthesized supervisors for deadlocks, protocol failures and unreachable goals.
Qualification: The paper argues that proving a GR(1) robot-supervisor specification realizable is not enough to ensure the resulting controller matches retry intent or can complete its mission.
Evidence: source-2026-09-28-008
Sources
- arXiv preprint 2609.30460arXiv · primary research
Corrections
No corrections have been recorded for this story.