Synthesizing a Lego Forklift Controller in GR(1): A Case Study

Shahar Maoz
(Tel Aviv University)
Jan Oliver Ringert
(Tel Aviv University)

Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial symbolic algorithm. We conducted a case study to learn about the challenges that software engineers may face when using GR(1) synthesis for the development of a reactive robotic system. In the case study we developed two variants of a forklift controller, deployed on a Lego robot. The case study employs LTL specification patterns as an extension of the GR(1) specification language, an examination of two specification variants for execution scheduling, traceability from the synthesized controller to constraints in the specification, and generated counter strategies to support understanding reasons for unrealizability. We present the specifications we developed, our observations, and challenges faced during the case study.

In Pavol Černý, Viktor Kuncak and Madhusudan Parthasarathy: Proceedings Fourth Workshop on Synthesis (SYNT 2015), San Francisco, CA, USA, 18th July 2015, Electronic Proceedings in Theoretical Computer Science 202, pp. 58–72.
Published: 2nd February 2016.

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