https://roboticpatterns.com/tags/coverage/ Recent content in coverage on Specification Patterns for Robotic Missions Hugo -- gohugo.io en-us Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/fairvisit/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/fairvisit/ Intent Given a set of locations the robot should visit all the locations in a fair way. LTL Template $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{F} (l_i) $ $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G} (l_{i} \rightarrow \mathcal{X} ((\neg l_i)\ \mathcal{W}\ l_{(i+1)\%n}))$ , where ($l_1, l_2, \ldots$ are location propositions) where “l1” and “l2” are expressions that indicate that a robot r is in a specific area or at a given point. Note that the pattern is general and consider the case in which a robot can be in two locations at the same time. https://roboticpatterns.com/pattern/orderedvisit/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/orderedvisit/ Intent Given a set of locations the robot should visit all the locations in order. LTL Template $\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n))) $ $\overset{n-1}{\underset{i=1}{\bigwedge}} (\neg l_{i+1})\ \mathcal{U}\ l_i$ , where ($l_1, l_2, \ldots$ are location propositions) Sequence visit does not forbid to visit a successor location before its predecessor, but only that after the predecessor is visited the successor is also visited. Ordered visit forbids a successor to be visited before its predecessor. https://roboticpatterns.com/pattern/sequencedvisit/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/sequencedvisit/ Intent Given a set of locations the robot should visit all the locations in sequence. LTL Template $\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n)))$ , where ($l_1, l_2, \ldots$ are location propositions) Note that the pattern is general and consider the case in which a robot can be in two locations at the same time. For example, a robot can be in an area of a building indicated as l1 (e. https://roboticpatterns.com/pattern/strictorderedvisit/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/strictorderedvisit/ Intent Given a set of locations the robot should visit all the locations following a strict order. LTL Template $\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n))) $ $\overset{n-1}{\underset{i=1}{\bigwedge}} (\neg l_{i+1}) \mathcal{U} l_i$ $\overset{n-1}{\underset{i=1}{\bigwedge}} (\neg l_{i}) U (l_i \wedge \mathcal{X} (\neg l_{i} \mathcal{U} (l_{i+1})))$, where $l_1, l_2, \ldots$ are location propositions. Ordered visit pattern does not avoid a predecessor location to be visited multiple times before its successor. https://roboticpatterns.com/pattern/visit/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/visit/ Intent Given a set of locations the robot should visit all the locations. LTL Template $\overset{n}{\underset{i=1}{\bigwedge}} F (l_i)$, where $l_1, l_2, \ldots$ are location propositions. Examples and Known Uses Locations $l_1$, $l_2$, and $l_3$ must be visited. $ l_1 \rightarrow l_4 \rightarrow l_3 \rightarrow l_1 \rightarrow l_4 \rightarrow l_2 \rightarrow (l_{\#})^\omega $ is an example trace that satisfies the mission requirement. A common usage example of the Visit pattern is a scenario in which a robot has to collect a set of items that are placed in different locations and bring them in a target destination.