The Linear Temporal Logic MissiOn Planning (LTLMoP) toolkit is a software package designed to assist in the rapid development, implementation, and testing of highlevel robot controllers. In this toolkit, structured English and Linear Temporal Logic are used to write high-level reactive task specifications, which are then automatically transformed into correct robot controllers that can be used to drive either a simulated or a real robot. LTLMoP's modular design makes it ideal for research in areas such as controller synthesis, semantic parsing, motion planning, and human-robot interaction.

Abstract-This paper addresses the challenge of enabling nonexpert users to command robots to perform complex high-level tasks using natural language. It describes an integrated system that combines the power of formal methods with the accessibility of natural language, providing correct-by-construction controllers for high-level specifications that can be implemented, and easy-to-understand feedback to the user on those that cannot be achieved. This is among the first works to close this feedback loop, enabling users to interact with the robot in order to identify a succinct cause of failure and obtain the desired controller. The supported language and logical capabilities are illustrated using examples involving a robot assistant in a hospital.

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The Linear Temporal Logic MissiOn Planning (LTLMoP) toolkit is a software package designed to generate a controller that guarantees a robot satisfies a task specification written by the user in structured English. The controller can be implemented on either a simulated or physical robot. This video illustrates the use of LTLMoP to generate a correctby-construction robot controller. Here, an Aldebaran Nao humanoid robot carries out tasks as a worker in a simplified grocery store scenario.