Title :
Where´s Waldo? Sensor-Based Temporal Logic Motion Planning
Author :
Kress-Gazit, Hadas ; Fainekos, Georgios E. ; Pappas, George J.
Author_Institution :
GRASP Lab., Pennsylvania Univ.
Abstract :
Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, resulting in a novel paradigm for sensor-based temporal logic motion planning. As one robot is part of the environment of another robot, our sensor-based framework very naturally captures multi-robot specifications. Our computational approach is based on first creating discrete controllers satisfying so-called general reactivity formulas. If feasible, the discrete controller is then used in order to guide the sensor-based composition of continuous controllers resulting in a hybrid controller satisfying the high level specification, but only if the environment is admissible.
Keywords :
collision avoidance; continuous systems; control system synthesis; discrete systems; multi-robot systems; temporal logic; collision avoidance; continuous controller; controller synthesis; discrete controller; general reactivity formula; hybrid controller; multirobot specification; robot behavior; robot model; sensor specification; sensor-based temporal logic motion planning; task specification; Automatic control; Automatic logic units; Collision avoidance; Control system synthesis; Motion control; Motion planning; Robot control; Robot sensing systems; Robotics and automation; USA Councils; Motion planning; controller synthesis; hybrid control; sensor-based planning; temporal logics;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363946