Cautious Planning with Incremental Symbolic Perception: Designing Verified Reactive Driving Maneuvers
Disha Kamale,Sofie Haesaert,Cristian-Ioan Vasile,Disha Kamale,Sofie Haesaert,Cristian-Ioan Vasile
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract models of motion control and information gathering, we show that assume-guarantee specifications (a subclass of Linear Temporal Logic) can be used to define and reso...
