TY - GEN
T1 - Temporal logic motion planning for mobile robots
AU - Fainekos, Georgios E.
AU - Kress-Gazit, Hadas
AU - Pappas, George J.
PY - 2005
Y1 - 2005
N2 - In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition. We then generate discrete plans satisfying the temporal logic formula using powerful model checking tools, and finally translate the discrete plans to continuous trajectories using hybrid control. Critical to our approach is providing formal guarantees ensuring that if the discrete plan satisfies the temporal logic formula, then the continuous motion also satisfies the exact same formula.
AB - In this paper, we consider the problem of robot motion planning in order to satisfy formulas expressible in temporal logics. Temporal logics naturally express traditional robot specifications such as reaching a goal or avoiding an obstacle, but also more sophisticated specifications such as sequencing, coverage, or temporal ordering of different tasks. In order to provide computational solutions to this problem, we first construct discrete abstractions of robot motion based on some environmental decomposition. We then generate discrete plans satisfying the temporal logic formula using powerful model checking tools, and finally translate the discrete plans to continuous trajectories using hybrid control. Critical to our approach is providing formal guarantees ensuring that if the discrete plan satisfies the temporal logic formula, then the continuous motion also satisfies the exact same formula.
KW - Discrete abstractions
KW - Hybrid control
KW - Model checking
KW - Motion planning
KW - Temporal logics
UR - http://www.scopus.com/inward/record.url?scp=33845650206&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845650206&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570410
DO - 10.1109/ROBOT.2005.1570410
M3 - Conference contribution
AN - SCOPUS:33845650206
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2020
EP - 2025
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -