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Minimum-violation scLTL motion planning for mobility-on-demand
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
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2017 (English)In: 2017 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1481-1488, article id 7989177Conference paper (Refereed)
Abstract [en]

This work focuses on integrated routing and motion planning for an autonomous vehicle in a road network. We consider a problem in which customer demands need to be met within desired deadlines, and the rules of the road need to be satisfied. The vehicle might not, however, be able to satisfy these two goals at the same time. We propose a systematic way to compromise between delaying the satisfaction of the given demand and violating the road rules. We utilize scLTL formulas to specify desired behavior and develop a receding horizon approach including a periodically interacting routing algorithm and a RRT<-based motion planner. The proposed solution yields a provably minimum-violation trajectory. An illustrative case study is included.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1481-1488, article id 7989177
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-213527DOI: 10.1109/ICRA.2017.7989177Scopus ID: 2-s2.0-85027977167ISBN: 9781509046331 (print)OAI: oai:DiVA.org:kth-213527DiVA, id: diva2:1138011
Conference
2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Marina Bay Sands International Convention Centre, Singapore, Singapore, 29 May 2017 through 3 June 2017
Note

QC 20170904

Available from: 2017-09-04 Created: 2017-09-04 Last updated: 2018-01-13Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf