Optimal path planning under temporal logic constraints
Name
Rus_Optimal path planning.pdf
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1.11 MB
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Adobe PDF
Checksum (MD5)
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Author(s)
Smith, Stephen L.
Tumova, Jana
Belta, Calin
Rus, Daniela L.
Date Issued
December 2010
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Smith, S L et al. “Optimal Path Planning Under Temporal Logic Constraints.” IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS). 3288–3293.
Version
Final published version
Abstract
In this paper we present a method for automatically generating optimal robot trajectories 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 a general linear temporal logic formula. In addition, we require that an optimizing proposition 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 trajectory which minimizes the cost function. The problem is motivated by robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at locations where data can be uploaded, and the formula specifies a an infinite horizon 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 formula. We then present a graph algorithm which computes a path corresponding to the optimal robot trajectory. We also present an implementation for a robot performing a data gathering mission.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5650896
