Failure-Aware Self-Diagnostic Task Planning under Temporal Logic Specifications*

Abstract

This paper investigates the problem of task planning for high-level specifications described by linear temporal logic (LTL) formulae. Existing works on this topic mainly based on the assumption that the functionalities of the system are always correct during the execution. In this work, we consider the scenario where the system is subject to internal failures that cannot be measured directly but may be inferred by a sequence of actions. The objective is to design a failure-aware task plan such that (i) the system will achieve the LTL task when there is no failure; and (ii) along the designed plan, any potential failure can be detected within a bounded number of steps. We provide a framework for modeling the behavior of the system with potential internal failures. Furthermore, an effective algorithm is designed to synthesize an optimal self-diagnostic plan, in the form of the prefix-suffix structure, such that these two requirements are satisfied. We illustrate the proposed framework by a case study of production task planning.