Deep Learning-Enhanced Sampling-Based Path Planning for LTL Mission Specifications
Changmin Baek,
Kyunghoon Cho
Abstract:The presented paper introduces a novel path planning algorithm designed for generating low-cost trajectories that fulfill mission requirements expressed in Linear Temporal Logic (LTL). The proposed algorithm is particularly effective in environments where cost functions encompass the entire configuration space. A core contribution of this paper is the presentation of a refined approach to sampling-based path planning algorithms that aligns with the specified mission objectives. This enhancement is achieved thr… Show more
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