Maximally Satisfying LTL Action Planning
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE , 2014, 1503-1510 p.Conference paper (Refereed)
We focus on autonomous robot action planning problem from Linear Temporal Logic (LTL) specifications, where the action refers to a "simple" motion or manipulation task, such as "go from A to B" or "grasp a ball". At the high-level planning layer, we propose an algorithm to synthesize a maximally satisfying discrete control strategy while taking into account that the robot's action executions may fail. Furthermore, we interface the high-level plan with the robot's low-level controller through a reactive middle-layer formalism called Behavior Trees (BTs). We demonstrate the proposed framework using a NAO robot capable of walking, ball grasping and ball dropping actions.
Place, publisher, year, edition, pages
IEEE , 2014. 1503-1510 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Intelligent robots, Robots, Temporal logic, Action execution, Action planning, Behavior trees, Discrete control strategies, Linear temporal logic specifications, Low-level controllers, Manipulation task, Robot actions
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-163507DOI: 10.1109/IROS.2014.6942755ISI: 000349834601089ScopusID: 2-s2.0-84911499807ISBN: 978-1-4799-6934-0OAI: oai:DiVA.org:kth-163507DiVA: diva2:800728
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Palmer House Hilton Hotel Chicago, United States, 14 September 2014 through 18 September 2014
QC 201504072015-04-072015-04-072015-04-07Bibliographically approved