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ICRA
2005
IEEE

Temporal Logic Motion Planning for Mobile Robots

9 years 7 months ago
Temporal Logic Motion Planning for Mobile Robots
— In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this we first construct discrete abstractions of robot motion based on some environmental decomposition. We then generate discrete plans satisfying the temporal logic formula using powerful model checking tools, and finally translate the discrete plans to continuous trajectories using hybrid control. Critical to our approach is providing formal guarantees ensuring that if the discrete plan satisfies the temporal logic formula, then the continuous motion also satisfies the exact same formula.
Georgios E. Fainekos, Hadas Kress-Gazit, George J.
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Georgios E. Fainekos, Hadas Kress-Gazit, George J. Pappas
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