Extended LTLvis motion planning interface

Wei Wei, Kangjin Kim, Georgios Fainekos

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

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 languageEnglish (US)
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4194-4199
Number of pages6
ISBN (Electronic)9781509018970
DOIs
StatePublished - Feb 6 2017
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: Oct 9 2016Oct 12 2016

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period10/9/1610/12/16

Fingerprint

Temporal logic
Motion Planning
Motion planning
Linear Temporal Logic
Specifications
Specification
Path
Mobile robots
Sketching
Trajectories
Mobile Robot
Balancing
Trajectory
Experimental Results

ASJC Scopus subject areas

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

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). [7844890] 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.

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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 https://doi.org/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
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