Demonstration of a Real-world Self-adaptive Robot Path-finding using Discrete Controller Synthesis

Abstract

This demo paper employs discrete controller synthesis (DCS) into a self-adaptive robot path-finding scenario with a real-world robot, to demonstrate the DCS-based self-adaptation underlying the principles of models@runtime and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$D(\text{omain})\Vert S(\text{pecification})\models$</tex> R(equirement). Specifically, the demonstration centers around how DCS generates a new specification model <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$S^{\prime}$</tex> that adapts to a changed domain model <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$D^{\prime}$</tex> at runtime, entailing the satisfaction of the adjusted requirement model <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$R^{\prime}$</tex> . Demonstration Video: https://youtu.be/jFsGPpOdxic