A graphical language for LTL motion and mission planning

Srinivas, S.; Kermani, Ramtin; Kim, Kangjin; Kobayashi, Yoshihiro; Fainekos, Georgios

doi:10.1109/robio.2013.6739543

Cited by 13 publications

(23 citation statements)

References 36 publications

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“…There are only few works about graphically specifying temporal logic formulas (see [5,8] and the references therein) or translating English language to temporal logic formulas (see [9,10,11] and the references therein).…”

Section: ( ⋀ ( ⋀ ( )))mentioning

confidence: 99%

“…Fortunately, there is existing work which graphically visualizes the LTL specification [5]. By defining nodes and edges as atomic propositions and temporal operators, LTL specification can be transferred from a formula into a graph.…”

Section: ( ⋀ ( ⋀ ( )))mentioning

confidence: 99%

“…Linear Temporal Logic (LTL) is a modal temporal logic reasoning over an infinite sequence of states [17]. This section mainly introduces the research work by Srinivas, et al on defining a graphical language [5]. In their work, the authors provide a graphical representation of an LTL formula in a 2D space.…”

Section: Graphical Language For Ltlmentioning

confidence: 99%

“…Linear Temporal Logic (LTL) is a formal language that enables the specification of time related robot tasks. As it is concise, LTL has become a popular specification language [4,5,6,7]. Furthermore, the logic is compact and can be used with a whole variety of tools available for planning.…”

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confidence: 99%

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Extended LTLvis motion planning interface

Wei¹,

Kim²,

Fainekos³

2016

2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Robots are becoming an important part of our life and industry. Although a lot of robot control interfaces have been developed to simplify the control method and improve user experience, users still cannot control robots comfortably. With the improvements of the robot functions, the requirements of universality and ease of use of robot control interfaces are also increasing. This research introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to nonexpert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.ii ACKNOWLEDGEMENTS

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Section: ( ⋀ ( ⋀ ( )))mentioning

confidence: 99%

Section: ( ⋀ ( ⋀ ( )))mentioning

confidence: 99%

Section: Graphical Language For Ltlmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Extended LTLvis motion planning interface

Wei¹,

Kim²,

Fainekos³

2016

2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…As an example, in [49] a web based interface to help elders to define robot missions in an easy and intuitive way is introduced. In [157] a graphical language for mission planning is designed, while in [101] a software tool for robot mission design is developed.…”

Section: Robot Mission and Behaviorsmentioning

confidence: 99%

Mission-Oriented Heterogeneous Robot Cooperation Based on Smart Resources Execution

Sánchez¹

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Home environments are changing as more technological devices are used to improve daily life. The growing demand for high technology in our homes means that robot integration will soon arrive. Home devices are evolving in a connected paradigm in which data flows to perform efficient home task management. Heterogeneous home robots connected in a network can establish a workflow that complements their capabilities and so increases performance within a mission execution. This work addresses the definition and requirements of a robot-group mission in the home context. The proposed solution relies on a network of smart resources, which are defined as cyber-physical systems that provide high-level service execution. Firstly, control middleware architecture is introduced as the execution base for the Smart resources.Next, the Smart resource topology and its integration within a robotic platform are addressed. Services supplied by Smart resources manage their execution through a robot behavior architecture. Robot behavior execution is hierarchically organized through a mission definition that can be established as an individual or collective approach. Environment model and interaction tasks characterize the operation capabilities of each robot within a mission. Mission goal achievement in a heterogeneous group is enhanced through the complement of the interaction capabilities of each robot. To offer a clearer explanation, a full use case is presented in which two robots cooperate to execute a mission and the previously detailed steps are evaluated. Finally, some of the obtained results are discussed as conclusions and future works is introduced. ResumenLos entornos domésticos se encuentran sometidos a un proceso de cambio gracias al empleo de dispositivos tecnológicos que mejoran la calidad de vida de las personas. La creciente demanda de alta tecnología en los hogares señala una próxima incorporación de la robótica de servicio. Los dispositivos domésticos están evolucionando hacia un paradigma de conexión en el cual la información fluye para ofrecer una gestión más eficiente. En este entorno, robots heterogéneos conectados a la red pueden establecer un flujo de trabajo que ofreciendo nuevas soluciones y incrementando la eficiencia en la ejecución de tareas. Este trabajo aborda la definición y los requisitos necesarios para la ejecución de misiones en grupos de robots heterogéneos en entornos domésticos. La solución propuesta se apoya en una red de Smart resources, que son definidos como sistemas ciber-físicos que proporcionan servicios de alto nivel. En primer lugar, se presenta la arquitectura del middleware de control en la cual se basa la ejecución de los Smart resources. A continuación se detalla la topología de los Smart resources, así como su integración en plataformas robóticas. Los servicios proporcionados por los Smart resources gestionan su ejecución mediante una arquitectura de comportamientos para robots. La ejecución de estos comportamientos se organiza de forma jerárquica mediante la definición de ...

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