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Guiding Autonomous Exploration with Signal Temporal Logic
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-1170-7162
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4173-2593
2019 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 4, no 4, p. 3332-3339Article in journal (Refereed) Published
Abstract [en]

Algorithms for autonomous robotic exploration usually focus on optimizing time and coverage, often in a greedy fashion. However, obstacle inflation is conservative and might limit mapping capabilities and even prevent the robot from moving through narrow, important places. This letter proposes a method to influence the manner the robot moves in the environment by taking into consideration a user-defined spatial preference formulated in a fragment of signal temporal logic (STL). We propose to guide the motion planning toward minimizing the violation of such preference through a cost function that integrates the quantitative semantics, i.e., robustness of STL. To demonstrate the effectiveness of the proposed approach, we integrate it into the autonomous exploration planner (AEP). Results from simulations and real-world experiments are presented, highlighting the benefits of our approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. Vol. 4, no 4, p. 3332-3339
Keywords [en]
Mapping, motion and path planning, formal methods in robotics and automation, search and rescue robots
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-255721DOI: 10.1109/LRA.2019.2926669ISI: 000476791300029Scopus ID: 2-s2.0-85069437912OAI: oai:DiVA.org:kth-255721DiVA, id: diva2:1342365
Note

QC 20190813

Available from: 2019-08-13 Created: 2019-08-13 Last updated: 2019-08-13Bibliographically approved

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Barbosa, Fernando S.Duberg, DanielJensfelt, PatricTumova, Jana

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