Hybrid controllers for path planning: A temporal logic approach

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

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

116 Citations (Scopus)

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 languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages4885-4890
Number of pages6
Volume2005
DOIs
StatePublished - 2005
Externally publishedYes
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

Fingerprint

Temporal logic
Motion planning
Robots
Controllers
Specifications
Kinematics
Trajectories
Feedback
Planning

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Fainekos, G., 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 (Vol. 2005, pp. 4885-4890). [1582935] https://doi.org/10.1109/CDC.2005.1582935

Hybrid controllers for path planning : A temporal logic approach. / Fainekos, Georgios; Kress-Gazit, Hadas; Pappas, George J.

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. Vol. 2005 2005. p. 4885-4890 1582935.

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

Fainekos, G, 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. vol. 2005, 1582935, 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 G, 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. Vol. 2005. 2005. p. 4885-4890. 1582935 https://doi.org/10.1109/CDC.2005.1582935
Fainekos, Georgios ; 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. Vol. 2005 2005. pp. 4885-4890
@inproceedings{0f9f25ebee164f85899cc1d1d2116d7b,
title = "Hybrid controllers for path planning: A temporal logic approach",
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 B{\"u}chi 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.",
author = "Georgios Fainekos and Hadas Kress-Gazit and Pappas, {George J.}",
year = "2005",
doi = "10.1109/CDC.2005.1582935",
language = "English (US)",
isbn = "0780395689",
volume = "2005",
pages = "4885--4890",
booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

}

TY - GEN

T1 - Hybrid controllers for path planning

T2 - A temporal logic approach

AU - Fainekos, Georgios

AU - Kress-Gazit, Hadas

AU - Pappas, George J.

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=33847223790&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33847223790&partnerID=8YFLogxK

U2 - 10.1109/CDC.2005.1582935

DO - 10.1109/CDC.2005.1582935

M3 - Conference contribution

AN - SCOPUS:33847223790

SN - 0780395689

SN - 9780780395688

VL - 2005

SP - 4885

EP - 4890

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

ER -