Name
Abstract | ||
|---|---|---|
We present a framework that enables online planning for robotic systems in dynamic environments. The PLANrm framework presented in this work utilizes the theory of robustness and monitoring of Metric Temporal Logic (MTL) specifications to inspect and modify available plans to both avoid obstacles and satisfy specifications in a dynamic environment. The use of MTL allows the practitioner to set complex event and timing based specifications that need to be satisfied in the execution of the plan. The monitoring algorithm inspects the possible paths in a bounded window and selects and adjusts a path to satisfy the specifications. In this paper, we present initial results on the framework and an extended summary of the algorithmic results. The approach is illustrated using a running example of a car-like model with a number of MTL specifications. |
Year | Venue | Field |
|---|---|---|
2016 | AAAI Workshop: Planning for Hybrid Systems | Robotic systems,Mathematical optimization,Computer science,Robustness (computer science),Temporal logic,Computer engineering,Bounded function |
DocType | Citations | PageRank |
Conference | 2 | 0.38 |
References | Authors | |
20 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bardh Hoxha | 1 | 68 | 9.13 |
| Georgios E. Fainekos | 2 | 804 | 52.65 |