Sciweavers

Share
AAAI
2015

This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction

4 years 9 months ago
This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction
The specification of complex motion goals through temporal logics is increasingly favored in robotics to narrow the gap between task and motion planning. A major limiting factor of such logics, however, is their Boolean satisfaction condition. To relax this limitation, we introduce a method for quantifying the satisfaction of co-safe linear temporal logic specifications, and propose a planner that uses this method to synthesize robot trajectories with the optimal satisfaction value. The method assigns costs to violations of specifications from userdefined proposition costs. These violation costs define a distance to satisfaction and can be computed algorithmically using a weighted automaton. The planner utilizes this automaan abstraction of the robotic system to construct a product graph that captures all possible robot trajectories and their distances to satisfaction. Then, a plan with the minimum distance to satisfaction is generated by employing this graph as the high-level pl...
Morteza Lahijanian, Shaull Almagor, Dror Fried, Ly
Added 27 Mar 2016
Updated 27 Mar 2016
Type Journal
Year 2015
Where AAAI
Authors Morteza Lahijanian, Shaull Almagor, Dror Fried, Lydia E. Kavraki, Moshe Y. Vardi
Comments (0)
books