Paper Info
Title
Managing Non-Deteirminism In Symbolic Robot Motion Planning And Control
Abstract
We study the problem of designing control strategies for non-deterministic transitions systems enforcing the satisfaction of Linear Temporal Logic (LTL) formulas over their set of states. We focus on finite transition systems with inputs, which are often encountered when solving motion planning problems by using discrete quotients induced by a given partition of the state space. Our approach solves the problem conservatively using LTL games, and consists of the following three steps: (1) the original transition system is transformed into a transition system on which an LTL game can be played, (2) a solution of the LTL game on the new transition system is obtained, and (3) an interface between this solution and the initial transition system is constructed. The correctness of the method is ensured by design. The advantages and conservativeness of our approach are discussed and illustrated by simple examples.We study the problem of designing control strategies for non-deterministic transitions systems enforcing the satisfaction of Linear Temporal Logic (LTL) formulas over their set of states. We focus on finite transition systems with inputs, which are often encountered when solving motion planning problems by using discrete quotients induced by a given partition of the state space. Our approach solves the problem conservatively using LTL games, and consists of the following three steps: (1) the original transition system is transformed into a transition system on which an LTL game can be played, (2) a solution of the LTL game on the new transition system is obtained, and (3) an interface between this solution and the initial transition system is constructed. The correctness of the method is ensured by design. The advantages and conservativeness of our approach are discussed and illustrated by simple examples.
Year
DOI
Venue
2007
10.1109/ROBOT.2007.363945
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
Keywords
Field
DocType
automata,motion control,motion planning,state space,control systems,kinematics,path planning,logic,automatic control,robot kinematics,linear temporal logic,game theory,temporal logic,robot control,strategic planning
Motion planning,Transition system,Motion control,Control theory,Correctness,Control engineering,Linear temporal logic,Game theory,Temporal logic,State space,Mathematics
Conference
Volume
Issue
ISSN
2007
1
1050-4729
Citations 
PageRank 
References 
5
0.47
11
Authors
2
Name
Order
Citations
PageRank
Marius Kloetzer147629.21
Calin Belta22197153.54