Motion and Action Planning under LTL Specifications using Navigation Functions and Action Description Language
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 240-245 p.Conference paper (Refereed)
We propose a novel framework to combine model-checking-based motion planning with action planning using action description languages, aiming to tackle task specifications given as Linear Temporal Logic (LTL) formulas. The specifications implicitly require both sequential regions to visit and the desired actions to perform at these regions. The robot's motion is abstracted based on sphere regions of interest in the workspace and the structure of navigation function(NF)-based controllers, while the robot's action map is constructed based on precondition and effect functions associated with the actions. An optimal planner is designed that generates the discrete motion-and-action plan fulfilling the specification, as well as the low-level hybrid controllers that implement this plan. The whole framework is demonstrated by a case study.
Place, publisher, year, edition, pages
IEEE , 2013. 240-245 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Action description languages, Action planning, Effect functions, Hybrid controller, Linear temporal logic, Navigation functions, Regions of interest, Task specifications
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-144151DOI: 10.1109/IROS.2013.6696359ISI: 000331367400036ScopusID: 2-s2.0-84893814008ISBN: 978-1-4673-6358-7OAI: oai:DiVA.org:kth-144151DiVA: diva2:711472
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
QC 201404102014-04-102014-04-102014-04-10Bibliographically approved