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Robust Motion Planning employing Signal Temporal Logic
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
2017 (English)In: 2017 AMERICAN CONTROL CONFERENCE (ACC), IEEE , 2017, p. 2950-2955Conference paper, Published paper (Refereed)
Abstract [en]

Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To address this issue, temporal logics have recently been used to formulate such advanced specifications. This paper will consider Signal Temporal Logic in combination with Model Predictive Control. A robustness metric, called Discrete Average Space Robustness, is introduced and used to maximize the satisfaction of specifications which results in a natural robustness against noise. The comprised optimization problem is convex and formulated as a Linear Program.

Place, publisher, year, edition, pages
IEEE , 2017. p. 2950-2955
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225794ISI: 000427033303002ISBN: 978-1-5090-5992-8 OAI: oai:DiVA.org:kth-225794DiVA, id: diva2:1196419
Conference
American Control Conference (ACC), MAY 24-26, 2017, Seattle, WA
Funder
Swedish Foundation for Strategic Research Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20180410

Available from: 2018-04-10 Created: 2018-04-10 Last updated: 2018-04-10Bibliographically approved

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Dimarogonas, Dimos V.

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