Sampling-based temporal logic path planning
Vasile, Cristian Ioan
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Citation (published version)Cristian Ioan Vasile, Calin Belta. 2013. "Sampling-Based Temporal Logic Path Planning." 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 4817 - 4822 (6).
We develop a sampling-based motion planning algorithm that combines long-term temporal logic goals with short-term reactive requirements. The mission specification has two parts: (1) a global specification given as a Linear Temporal Logic (LTL) formula over a set of static service requests that occur at the regions of a known environment, and (2) a local specification that requires servicing a set of dynamic requests that can be sensed locally during the execution. Our method consists of two main ingredients: (a) an off-line sampling-based algorithm for the construction of a global transition system that contains a path satisfying the LTL formula, and (b) an on-line sampling-based algorithm to generate paths that service the local requests, while making sure that the satisfaction of the global specification is not affected. Building on our previous work , the focus of this paper is on the on-line part of the overall method.