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Integrated motion planning and control under metric interval temporal logic specifications
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). (Decision and Control Systems)
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). (Decision and Control Systems)ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4173-2593
2019 (English)In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 2042-2049, article id 8795925Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 2042-2049, article id 8795925
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262641DOI: 10.23919/ECC.2019.8795925ISI: 000490488302012Scopus ID: 2-s2.0-85071580176ISBN: 9783907144008 (print)OAI: oai:DiVA.org:kth-262641DiVA, id: diva2:1361837
Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June-28 June 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-11-15Bibliographically approved

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Barbosa, Fernando S.Lindemann, LarsDimarogonas, Dimos V.Tumova, Jana

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