文章基本信息

标题：Sampling-based Motion Planning with Temporal Logic Missions and Spatial Preferences ⁎
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作者：Jesper Karlsson ; Fernando S. Barbosa ; Jana Tumova 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15537-15543
DOI：10.1016/j.ifacol.2020.12.2397
语种：English
出版社：Elsevier
摘要：AbstractWhile motion planning under temporal logic specifications has been addressed in several state-of-the-art works, spatial aspects have been so far largely neglected. In this work, we enrich the semantics of robot motion specifications by including preferences on spatial relations between its trajectory and various elements in its environment. The spatial preferences are given in a fragment of Signal Temporal Logic (STL) on top of complex missions in syntactically co-safe Linear Temporal Logic (scLTL). We propose a cost function with user-specified parameters, which determines the compromise between efficiency and spatial robustness of a trajectory. The proposed modification of the incremental sampling-based RRT* driven by this cost function guarantees that the motion plan (if found) simultaneously satisfies the mission and asymptotically minimize the cost. The paper includes several case studies showcasing the effects of the user-adjustable parameters on the resulting trajectories.
关键词：KeywordsTemporal LogicTrajectory PlanningPath PlanningFormal MethodsRobotics