eCommons

 

Automatic controller synthesizer for different robotic platforms

Other Titles

Abstract

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.

Journal / Series

Volume & Issue

Description

Sponsorship

Date Issued

2019-08-30

Publisher

Keywords

Robotics; Computer engineering; automatic controller synthesis; automaton; high-level task; Linear temporal logic; robotic; ROS

Location

Effective Date

Expiration Date

Sector

Employer

Union

Union Local

NAICS

Number of Workers

Committee Chair

Kress Gazit, Hadas

Committee Co-Chair

Committee Member

Campbell, Mark

Degree Discipline

Mechanical Engineering

Degree Name

M.S., Mechanical Engineering

Degree Level

Master of Science

Related Version

Related DOI

Related To

Related Part

Based on Related Item

Has Other Format(s)

Part of Related Item

Related To

Related Publication(s)

Link(s) to Related Publication(s)

References

Link(s) to Reference(s)

Previously Published As

Government Document

ISBN

ISMN

ISSN

Other Identifiers

Rights

Rights URI

Types

dissertation or thesis

Accessibility Feature

Accessibility Hazard

Accessibility Summary

Link(s) to Catalog Record