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Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
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2019 (English)In: 2019 International Conference on Robotics And Automation (ICRA): 2019 International Conference on Robotics and Automation, ICRA 2019; Palais des Congres de Montreal, Montreal; Canada; 20 May 2019 through 24 May 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 951-957, article id 8794000Conference paper, Published paper (Refereed)
Abstract [en]

This work addresses the problem of robot navigation under timed temporal specifications in workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees the accomplishment of a high-level specification expressed as a timed temporal logic formula, while preserving safety (i.e., obstacle avoidance) of the system. In particular, we utilize a motion controller that achieves safe navigation inside the workspace in predetermined time, thus allowingus to abstract the motion of the agent as a finite timed transition system among certain regions of interest. Next, we employ standard formal verification and convex optimization techniques to derive high-level timed plans that satisfy the agent’s specifications. A simulation study illustrates and clarifies the proposed scheme.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 951-957, article id 8794000
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-247275DOI: 10.1109/ICRA.2019.8794000ISI: 000494942300107Scopus ID: 2-s2.0-85071428574ISBN: 9781538660263 (print)OAI: oai:DiVA.org:kth-247275DiVA, id: diva2:1298032
Conference
International Conference on Robotics and Automation, 20-24 May 2019 in Montreal, Canada.
Note

QC 20200422

Available from: 2019-03-21 Created: 2019-03-21 Last updated: 2020-04-22Bibliographically approved

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Dimarogonas, Dimos V.

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