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ICRA
2007
IEEE

Managing non-determinism in symbolic robot motion planning and control

12 years 8 months ago
Managing non-determinism in symbolic robot motion planning and control
Abstract— We study the problem of designing control strategies for nondeterministic transitions systems enforcing the satisfaction of Linear Temporal Logic (LTL) formulas over their set of states. We focus on finite transition systems with inputs, which are often encountered when solving motion planning problems by using discrete quotients induced by a given partition of the state space. Our approach solves the problem conservatively using LTL games, and consists of the following three steps: (1) the original transition system is transformed into a transition system on which an LTL game can be played, (2) a solution of the LTL game on the new transition system is obtained, and (3) an interface between this solution and the initial transition system is constructed. The correctness of the method is ensured by design. The advantages and conservativeness of our approach are discussed and illustrated by simple examples.
Marius Kloetzer, Calin Belta
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Marius Kloetzer, Calin Belta
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