Hybrid controllers for path planning: A temporal logic approach

Georgios E. Fainekos; Hadas Kress-Gazit; George J. Pappas

doi:10.1109/CDC.2005.1582935

Hybrid controllers for path planning: A temporal logic approach

Georgios E. Fainekos, Hadas Kress-Gazit, George J. Pappas

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

140 Scopus citations

Abstract

Robot motion planning algorithms have focused on low-level reachability goals taking into account robot kinematics, or on high level task planning while ignoring low-level dynamics. In this paper, we present an integrated approach to the design of closed-loop hybrid controllers that guarantee by construction that the resulting continuous robot trajectories satisfy sophisticated specifications expressed in the so-called Linear Temporal Logic. In addition, our framework ensures that the temporal logic specification is satisfied even in the presence of an adversary that may instantaneously reposition the robot within the environment a finite number of times. This is achieved by obtaining a Büchi automaton realization of the temporal logic specification, which supervises a finite family of continuous feedback controllers, ensuring consistency between the discrete plan and the continuous execution.

Original language	English (US)
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages	4885-4890
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2005.1582935
State	Published - 2005
Externally published	Yes
Event	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: Dec 12 2005 → Dec 15 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Other

Other	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/Territory	Spain
City	Seville
Period	12/12/05 → 12/15/05

ASJC Scopus subject areas

General Engineering

Access to Document

10.1109/CDC.2005.1582935

Cite this

Fainekos, G. E., Kress-Gazit, H., & Pappas, G. J. (2005). Hybrid controllers for path planning: A temporal logic approach. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 4885-4890). Article 1582935 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1582935

Hybrid controllers for path planning: A temporal logic approach. / Fainekos, Georgios E.; Kress-Gazit, Hadas; Pappas, George J.
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 4885-4890 1582935 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

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

Fainekos, GE, Kress-Gazit, H & Pappas, GJ 2005, Hybrid controllers for path planning: A temporal logic approach. in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05., 1582935, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 4885-4890, 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1582935

Fainekos GE, Kress-Gazit H, Pappas GJ. Hybrid controllers for path planning: A temporal logic approach. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 4885-4890. 1582935. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1582935

Fainekos, Georgios E. ; Kress-Gazit, Hadas ; Pappas, George J. / Hybrid controllers for path planning : A temporal logic approach. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. pp. 4885-4890 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05).

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Hybrid controllers for path planning: A temporal logic approach

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