Sampling-based motion planning with temporal goals

Abstract— This paper presents a geometry-based, multilayered synergistic approach to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described over subsets of the workspace (called propositions) using temporal logic. A multi-layered synergistic framework has been proposed recently for solving planning problems involving significant discrete structure. In this framehigh-level planner uses a discrete abstraction of the system and the exploration information to suggest feasible high-level plans. A low-level sampling-based planner uses the physical model of the system, and the suggested high-level plans, to explore the state-space for feasible solutions. In this paper, we advocate the use of geometry within the above framework to solve motion planning problems involving temporal goals. We a technique to construct the discrete abstraction using the geometry of the obstacles and the propositions defined over the workspace. Furthermore, we...

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Amit Bhatia, Lydia E. Kavraki, Moshe Y. Vardi
• Keywords: Discrete Abstraction, ICRA 2010, Robotics, Temporal Goals, Temporal Logic