Extended LTLvis motion planning interface

Wei Wei; Kangjin Kim; Georgios Fainekos

doi:10.1109/SMC.2016.7844890

Extended LTLvis motion planning interface

Wei Wei, Kangjin Kim, Georgios Fainekos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

This paper introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to non-expert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.

Original language	English (US)
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4194-4199
Number of pages	6
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844890
State	Published - Feb 6 2017
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: Oct 9 2016 → Oct 12 2016

Publication series

Name	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Other

Other	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	10/9/16 → 10/12/16

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Artificial Intelligence
Control and Optimization
Human-Computer Interaction

Access to Document

10.1109/SMC.2016.7844890

Cite this

Wei, W., Kim, K., & Fainekos, G. (2017). Extended LTLvis motion planning interface. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 4194-4199). Article 7844890 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844890

Extended LTLvis motion planning interface. / Wei, Wei; Kim, Kangjin; Fainekos, Georgios.
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4194-4199 7844890 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wei, W, Kim, K & Fainekos, G 2017, Extended LTLvis motion planning interface. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844890, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 4194-4199, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 10/9/16. https://doi.org/10.1109/SMC.2016.7844890

Wei W, Kim K, Fainekos G. Extended LTLvis motion planning interface. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4194-4199. 7844890. (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). doi: 10.1109/SMC.2016.7844890

Wei, Wei ; Kim, Kangjin ; Fainekos, Georgios. / Extended LTLvis motion planning interface. 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4194-4199 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

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Extended LTLvis motion planning interface

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