A graphical language for LTL motion and mission planning

Shashank Srinivas, Ramtin Kermani, Kangjin Kim, Yoshihiro Kobayashi, Georgios Fainekos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a logician, provide mission and motion plans for multiple robots in LTL? In this paper, we propose a graphical specification environment for LTL specifications that utilizes touchscreen technologies. We demonstrate that the graphical interface can express all the properties of interest that have appeared in the literature.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
PublisherIEEE Computer Society
Pages704-709
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: Dec 12 2013Dec 14 2013

Other

Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period12/12/1312/14/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

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    Srinivas, S., Kermani, R., Kim, K., Kobayashi, Y., & Fainekos, G. (2013). A graphical language for LTL motion and mission planning. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 (pp. 704-709). [6739543] IEEE Computer Society. https://doi.org/10.1109/ROBIO.2013.6739543