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Motion and Action Planning under LTL Specifications using Navigation Functions and Action Description Language
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4562-854X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 240-245 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Action description languages, Action planning, Effect functions, Hybrid controller, Linear temporal logic, Navigation functions, Regions of interest, Task specifications
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-144151DOI: 10.1109/IROS.2013.6696359ISI: 000331367400036Scopus ID: 2-s2.0-84893814008ISBN: 978-1-4673-6358-7 (print)OAI: oai:DiVA.org:kth-144151DiVA: diva2:711472
Conference
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
Note

QC 20140410

Available from: 2014-04-10 Created: 2014-04-10 Last updated: 2014-04-10Bibliographically approved

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Guo, MengJohansson, Karl H.Dimarogonas, Dimos V.

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