https://roboticpatterns.com/tags/trigger/ Recent content in trigger 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/bounddelay/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/bounddelay/ Intent Applies when a counteraction must be performed every time and only when a specific location is entered.. LTL Template $\mathcal{G}( p_1 \leftrightarrow \mathcal{X} (p_2))$, where $p_1 \in M$ and $p_2 \in PL \cup PA$ Examples and Known Uses The trace $l_1 \rightarrow l_3 \rightarrow \{l_2,c\} \rightarrow \{l_1\} \rightarrow \{l_4,1_1\} \rightarrow \{l_1\} \rightarrow \{l_4,a_1\} \rightarrow (l_3)^\omega$ satisfies the mission requirement. The trace $l_1 \rightarrow l_3 \rightarrow \{l_2,c\} \rightarrow \{l_1\} \rightarrow \{l_4,1_1\} \rightarrow \{l_1,a_1\} \rightarrow \{l_4\} \rightarrow (l_3)^\omega$ does not satisfy the mission requirement. https://roboticpatterns.com/pattern/boundreaction/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/boundreaction/ Intent Applies when the occurrence of a stimulus triggers a counteraction promptly, i.e. in the next time instant. LTL Template $\mathcal{G}( p_1 \leftrightarrow p_2)$, where $p_1 \in M$ and $p_2 \in PL \cup PA$ Examples and Known Uses Action $a_1$ is bound though a delay to location $l_1$. The trace $l_1 \rightarrow l_3 \rightarrow \{l_2,c\} \rightarrow \{l_1,a_1\} \rightarrow l_4 \rightarrow \{l_1,a_1\} \rightarrow (l_3)^\omega$ satisfies the mission requirement. https://roboticpatterns.com/pattern/delayedreaction/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/delayedreaction/ Intent Applies when the occurrence of a stimulus triggers a counteraction some time later. LTL Template $\mathcal{G}( p_1 \rightarrow \mathcal{F} (p_2))$, where $p_1 \in M$ and $p_2 \in PL \cup PA$ Examples and Known Uses When $c$ occurs the robot must start moving toward location $l_1$, and $l_1$ is subsequently finally reached. The trace $l_1 \rightarrow l_3 \rightarrow \{l_2,c\} \rightarrow l_1 \rightarrow l_4 \rightarrow (l_3)^\omega$ satisfies the mission requirement, since after $c$ occurs the robot starts moving toward location $l_1$, and location $l_1$ is finally reached. https://roboticpatterns.com/pattern/instantaneousreaction/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/instantaneousreaction/ Intent Applies when the occurrence of a stimulus instantaneously triggers a counteraction. LTL Template $\mathcal{G}( p_1 \rightarrow p_2)$, where $p_1 \in M$ and $p_2 \in PL \cup PA$ Examples and Known Uses When location $l_2$ is reached action $a$ must be executed. The trace $l_1 \rightarrow l_3 \rightarrow \{ l_2,a \} \rightarrow \{ l_2,a \} \rightarrow l_4 \rightarrow (l_3)^\omega$ satisfies the mission requirement since when location $l_2$ is entered condition $a$ is performed. https://roboticpatterns.com/pattern/patrolling/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/patrolling/ Intent Keep visiting a set of locations, but not in a particular order. LTL Template $ \overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G} \mathcal{F} (l_i)$ , 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/promptreaction/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/promptreaction/ Intent Applies when the occurrence of a stimulus triggers a counteraction promptly, i.e. in the next time instant. LTL Template $\mathcal{G}( p_1 \rightarrow \mathcal{X} (p_2))$, where $p_1 \in M$ and $p_2 \in PL \cup PA$ Examples and Known Uses If $c$ occurs $l_1$ is reached in the next time instant. The trace $l_1 \rightarrow l_3 \rightarrow \{l_2,c\} \rightarrow l_1 \rightarrow l_4 \rightarrow (l_3)^\omega$ satisfies the mission requirement, since after $c$ occurs $l_1$ is reached within the next time instant. https://roboticpatterns.com/pattern/wait/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/wait/ Intent Applies when a counteraction must be performed every time and only when a specific location is entered.. LTL Template $(l_1) \mathcal{U} (p) $, where $l_1 \in L$ and $p \in PE \cup PA$ Examples and Known Uses The robot remains in location $l_1$ until condition $c$ is satisfied. The trace $l_1 \rightarrow l_3 \rightarrow { l_2,c} \rightarrow l_1 \rightarrow l_4 \rightarrow (l_3)^\omega$ violates the mission requirement since the robot left $l_1$ before condition $c$ is satisfied.