Vasile, Cristian IoanBelta, CalinAmato, N.2018-07-122018-07-122013-01-01Cristian 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).2153-0858https://hdl.handle.net/2144/29847We 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 [1], the focus of this paper is on the on-line part of the overall method.p. 4817-4822RoboticsScience & technologyComputer science, artificial intelligenceComputer science, cyberneticsAlgorithmsRobot sensing systemsPath planningSampling methodsTemporal logicGlobal transition systemArticle10.1109/ICRA.2014.6907486