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Optimal path planning for surveillance with temporal-logic constraints
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cec5ffaf45af9317c5bddf8f5cf6a365d14f.pdf
Description
Accepted version
Size
412.02 KB
Format
Adobe PDF
Checksum (MD5)
804354de7eaf27a18703a295bee45c90
Author(s)
Smith, Stephen L
Tůmová, Jana
Belta, Calin
Rus, Daniela
Date Issued
2011
Journal
International Journal of Robotics Research
Publisher
SAGE Publications
Citation
Smith, S. L., et al. "Optimal Path Planning for Surveillance with Temporal-Logic Constraints." International Journal of Robotics Research 30 14 (2011): 1695-708.
Version
Author's final manuscript
Abstract
In this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal-logic specification. We then present a graph algorithm that computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road-network platform. © SAGE Publications 2011.
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
10.1177/0278364911417911
