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Executing a Golog program on an actual robot typically requires additionalsteps to account for hardware or software details of the robot platform, whichcan be formulated as constraints on the program. Such constraints are oftentemporal, refer to metric time, and require modifications to the abstract Gologprogram. We describe how to formulate such constraints based on a modal variantof the Situation Calculus. These constraints connect the abstract program withthe platform models, which we describe using timed automata. We show that forprograms over finite domains and with fully known initial state, the problem ofsynthesizing a controller that satisfies the constraints while preserving theeffects of the original program can be reduced to MTL synthesis. We do this byconstructing a timed automaton from the abstract program and synthesizing anMTL controller from this automaton, the platform models, and the constraints.We prove that the synthesized controller results in execution traces which arethe same as those of the original program, possibly interleaved withplatform-dependent actions, that they satisfy all constraints, and that theyhave the same effects as the traces of the original program. By doing so, weobtain a decidable procedure to synthesize a controller that satisfies thespecification while preserving the original program.

Controller Synthesis for Golog Programs over Finite Domains with Metric Temporal Constraints