@misc{hofmannControllingGologPrograms2022,
  title = {Controlling Golog Programs against MTL Constraints},
  author = {Hofmann, Till and Schupp, Stefan},
  year = {2022},
  eprint = {2204.03596},
  archivePrefix = {arXiv},
  primaryClass = {cs.AI},
  doi = {10.48550/ARXIV.2204.03596},
  url = {https://arxiv.org/abs/2204.03596},
  abstract = {
    While Golog is an expressive programming language to control the
    high-level behavior of a robot, it is often tedious to use on a real
    robotic system. On an actual robot, the user needs to consider low-level
    details, such as enabling and disabling hardware components, e.g., a
    camera to detect objects for grasping.  In other words, high-level actions
    usually pose implicit temporal constraints on the low-level platform,
    which are typically independent of the concrete program to be executed.
    In this paper, we propose to make these constraints explicit by
    modeling them as MTL formulas, which enforce the execution of certain
    low-level platform operations in addition to the main program.  Based on
    results from timed automata controller synthesis, we describe a method
    to synthesize a controller that executes both the high-level program and
    the low-level platform operations concurrently in order to satisfy the
    MTL specification.  This allows the user to focus on the high-level
    behavior without the need to consider low-level operations. We present
    an extension to Golog by clocks together with the required theoretical
    foundations as well as decidability results.
  }
}

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