https://roboticpatterns.com/tags/restricted/ Recent content in restricted 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/lowerrestrictedavoidance/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/lowerrestrictedavoidance/ Intent Applies when a restriction on the minimum number of occurrences is desired. LTL Template $\mathcal{F} (\underbrace{l_1 \wedge \mathcal{X} (\mathcal{F}(l_1 \wedge \ldots \mathcal{X} (\mathcal{F}(l_1)}_\text{n})))) $, where $l_1 \in L$ Examples and Known Uses A robot to enter location $l_1$ at least $3$ times. The trace $l_4 \rightarrow l_3 \rightarrow l_2 \rightarrow l_2\rightarrow l_4 \rightarrow ( l_3)^\omega$ violates the mission requirement since location $1$ is never entered. The trace $l_1 \rightarrow l_4 \rightarrow l_3 \rightarrow l_1 \rightarrow l_4 \rightarrow l_1 \rightarrow ( l_3)^\omega$ satisfies the mission requirement. https://roboticpatterns.com/pattern/upperrestrictedavoidance/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/upperrestrictedavoidance/ Intent Applied when a restriction on the maximum number of occurrences is desired. LTL Template $\neg \mathcal{F} (\underbrace{l_1 \wedge \mathcal{X} (\mathcal{F}(l_1 \wedge \ldots \mathcal{X} (\mathcal{F}(l_1)}_\text{n})))) $, where $l_1 \in L$ 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.