Revising motion planning under Linear Temporal Logic specifications in partially known workspaces
2013 (English)In: 2013 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2013, 5025-5032 p.Conference paper (Refereed)
In this paper we propose a generic framework for real-time motion planning based on model-checking and revision. The task specification is given as a Linear Temporal Logic formula over a finite abstraction of the robot motion. A preliminary motion plan is first generated based on the initial knowledge of the system model. Then real-time information obtained during the runtime is used to update the system model, verify and further revise the motion plan. The implementation and revision of the motion plan are performed in real-time. This framework can be applied to partially-known workspaces and workspaces with large uncertainties. Computer simulations are presented to demonstrate the efficiency of the framework.
Place, publisher, year, edition, pages
IEEE Computer Society, 2013. 5025-5032 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Finite abstraction, Generic frameworks, Linear temporal logic, Linear temporal logic specifications, Real-time information, Real-time motion planning, System modeling, Task specifications
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-139941DOI: 10.1109/ICRA.2013.6631295ISI: 000337617305007ScopusID: 2-s2.0-84887268376ISBN: 978-146735641-1ISBN: 978-1-4673-5643-5OAI: oai:DiVA.org:kth-139941DiVA: diva2:687813
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe; Germany; 6 May 2013 through 10 May 2013
QC 201401152014-01-152014-01-152014-08-04Bibliographically approved