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ICRA
2010
IEEE

Sampling-based motion planning with temporal goals

9 years 5 months ago
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...
Amit Bhatia, Lydia E. Kavraki, Moshe Y. Vardi
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Amit Bhatia, Lydia E. Kavraki, Moshe Y. Vardi
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