Optimal Path Planning under Temporal Logic Constraints

Abstract-- In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by a general linear temporal logic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot trajectory which minimizes the cost function. The problem is motivated by robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at locations where data can be uploaded, and the formula specifies a an infinite horizon data collection mission. Our method utilizes B

• Type: Journal
• Year: 2010
• Where: CORR
• Authors: Stephen L. Smith, Jana Tumova, Calin Belta, Daniela Rus
• Keywords: CORR 2010, Education, Optimal Robot, Robot, Temporal Logic Formula