Temporal logic motion planning for mobile robots

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

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

125 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages2020-2025
Number of pages6
DOIs
StatePublished - 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Discrete abstractions
  • Hybrid control
  • Model checking
  • Motion planning
  • Temporal logics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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