LTLMoP: Experimenting with language, Temporal Logic and robot control

Author

Finucane, Cameron ; Jing, Gangyuan ; Kress-Gazit, Hadas

Author_Institution

Cornell Univ., Ithaca, NY, USA

fYear

2010

fDate

18-22 Oct. 2010

Firstpage

1988

Lastpage

1993

Abstract

The Linear Temporal Logic MissiOn Planning (LTLMoP) toolkit is a software package designed to assist in the rapid development, implementation, and testing of high-level robot controllers. In this toolkit, structured English and Linear Temporal Logic are used to write high-level reactive task specifications, which are then automatically transformed into correct robot controllers that can be used to drive either a simulated or a real robot. LTLMoP´s modular design makes it ideal for research in areas such as controller synthesis, semantic parsing, motion planning, and human-robot interaction.

Keywords

control system synthesis; human-robot interaction; mobile robots; path planning; software packages; temporal logic; LTLMoP modular design; controller synthesis; high level reactive task specification; high level robot controllers; human-robot interaction; linear temporal logic mission planning toolkit; motion planning; semantic parsing; software package; Motion planning; controller synthesis; hybrid control; language; mission planning; sensor-based planning; temporal logics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Conference_Location

Taipei

ISSN

2153-0858

Print_ISBN

978-1-4244-6674-0

Type

conf

DOI

10.1109/IROS.2010.5650371

Filename

5650371