{"id":"https://openalex.org/W2022850652","doi":"https://doi.org/10.1109/tro.2012.2214558","title":"Explaining Impossible High-Level Robot Behaviors","display_name":"Explaining Impossible High-Level Robot Behaviors","publication_year":2012,"publication_date":"2012-09-12","ids":{"openalex":"https://openalex.org/W2022850652","doi":"https://doi.org/10.1109/tro.2012.2214558","mag":"2022850652"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2214558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2214558","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074189357","display_name":"Vasumathi Raman","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vasumathi Raman","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA","[Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA]","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and AeroSpace Engineering, Cornell University, Ithaca, NY, USA","Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and AeroSpace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074189357"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":3.4612,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.92553338,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"29","issue":"1","first_page":"94","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10126","display_name":"Logic, programming, and type systems","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/troubleshooting","display_name":"Troubleshooting","score":0.7476850748062134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6902679800987244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6814897656440735},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5695480108261108},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5603652000427246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.542798638343811},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5163211226463318},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4928462505340576},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.46292707324028015},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.4193936586380005},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.354617714881897},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.22762778401374817}],"concepts":[{"id":"https://openalex.org/C147494362","wikidata":"https://www.wikidata.org/wiki/Q2078905","display_name":"Troubleshooting","level":2,"score":0.7476850748062134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6902679800987244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6814897656440735},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5695480108261108},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5603652000427246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.542798638343811},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5163211226463318},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4928462505340576},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.46292707324028015},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.4193936586380005},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.354617714881897},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.22762778401374817},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2214558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2214558","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.649.5125","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.649.5125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.cms.caltech.edu/~vasu/papers/tro_13.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W21033097","https://openalex.org/W1499127572","https://openalex.org/W1517771483","https://openalex.org/W1537589219","https://openalex.org/W1570601698","https://openalex.org/W1603488308","https://openalex.org/W1814905144","https://openalex.org/W1970269621","https://openalex.org/W1970927851","https://openalex.org/W2001006503","https://openalex.org/W2004796166","https://openalex.org/W2015640848","https://openalex.org/W2016206563","https://openalex.org/W2023808162","https://openalex.org/W2032906824","https://openalex.org/W2099251677","https://openalex.org/W2104241562","https://openalex.org/W2148446974","https://openalex.org/W2150335178","https://openalex.org/W2151958719","https://openalex.org/W2152924401","https://openalex.org/W2155020620","https://openalex.org/W2161929123","https://openalex.org/W2171746860","https://openalex.org/W2294573743","https://openalex.org/W2496613029","https://openalex.org/W2913459036","https://openalex.org/W3023191323","https://openalex.org/W3023554972","https://openalex.org/W4285719527","https://openalex.org/W6629950528","https://openalex.org/W6630939000","https://openalex.org/W6638292592","https://openalex.org/W6681820689","https://openalex.org/W6685286940"],"related_works":["https://openalex.org/W2314860101","https://openalex.org/W4298112394","https://openalex.org/W4383172090","https://openalex.org/W2533550592","https://openalex.org/W2521059652","https://openalex.org/W2899803801","https://openalex.org/W4252407247","https://openalex.org/W2344694625","https://openalex.org/W2544762252","https://openalex.org/W2149328105"],"abstract_inverted_index":{"A":[0],"key":[1],"challenge":[2],"in":[3,133,152],"robotics":[4],"is":[5,33,43],"the":[6,40,50,95,105,113,154,159,176],"generation":[7],"of":[8,18,89,110,115,138,150],"controllers":[9,27,80],"for":[10,179],"autonomous,":[11],"high-level":[12],"robot":[13,79,160,180],"behaviors":[14,84],"comprising":[15],"nontrivial":[16],"sequences":[17],"actions,":[19],"including":[20],"reactive":[21],"and":[22,119,169],"repeated":[23],"tasks.":[24],"When":[25],"constructing":[26],"to":[28,52,75,127,135,146,157],"fulfill":[29,158],"such":[30],"tasks,":[31],"it":[32],"often":[34,60],"not":[35,103],"known":[36],"a":[37,72,87,108],"priori":[38],"whether":[39],"intended":[41],"behavior":[42],"even":[44],"feasible;":[45],"plans":[46],"are":[47,171],"modified":[48],"on":[49],"fly":[51],"deal":[53],"with":[54,107],"failures":[55],"that":[56,81],"occur":[57],"during":[58],"execution,":[59],"still":[61],"without":[62],"guaranteeing":[63],"correct":[64],"behavior.":[65],"Recently,":[66],"formal":[67],"methods":[68],"have":[69],"emerged":[70],"as":[71,173],"powerful":[73],"tool":[74],"automatically":[76,128],"generate":[77],"autonomous":[78],"guarantee":[82],"desired":[83],"expressed":[85],"by":[86],"class":[88],"temporal":[90],"logic":[91],"specifications.":[92],"However,":[93],"when":[94],"specification":[96,132,161],"cannot":[97],"be":[98],"fulfilled,":[99],"these":[100],"approaches":[101],"do":[102],"provide":[104],"user":[106,155],"source":[109],"failure,":[111],"making":[112],"troubleshooting":[114],"specifications":[116],"an":[117,125,130,143,163],"unstructured":[118],"time-consuming":[120],"process.":[121],"This":[122],"paper":[123],"describes":[124],"algorithm":[126,168],"analyze":[129],"unsynthesizable":[131],"order":[134],"identify":[136],"causes":[137,149],"failure.":[139],"It":[140],"also":[141],"introduces":[142],"interactive":[144],"game":[145,170],"explore":[147],"possible":[148],"unsynthesizability,":[151],"which":[153],"attempts":[156],"against":[162],"adversarial":[164],"environment.":[165],"The":[166],"proposed":[167],"implemented":[172],"features":[174],"within":[175],"LTLMoP":[177],"toolkit":[178],"mission":[181],"planning.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}