Automatic controller synthesizer for different robotic platforms
This thesis presents a software tool that transfers a user's high-level task into robot behaviors. The work presented in this thesis is implemented based on the Robot Operating system (ROS). It is an integration work built upon Linear Temporal Logic MissiOn Planning (LTLMoP), Linear Temporal Logic stack (LTLstack) and SmalL bUt Complete GROne Synthesizer (slugs). The upgrades are mainly focused on better user experience, implementing the possible behaviors on the different physical robots and taking the robots to work outside of the lab. The work can automatically provide feedback to the user. The feedback includes the possible failures in mapping between the automaton and related ROS nodes, the possible bugs in the ROS node itself and the possible inappropriate ROS initialization setup.
Robotics; Computer engineering; automatic controller synthesis; automaton; high-level task; Linear temporal logic; robotic; ROS
Kress Gazit, Hadas
M.S., Mechanical Engineering
Master of Science
dissertation or thesis