2013 American Control Conference 2013
DOI: 10.1109/acc.2013.6579837
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Abstract: Abstract-We consider the problem of automatic generation of control strategies for robotic vehicles given a set of highlevel mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and B must be periodically surveyed," or "None of the vehicles can enter an unsafe region." We focus on instances when all of the given specifications cannot be reached simultaneously due to their incompatibility and/or environmental constraints. We aim to find the leas… Show more

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Cited by 36 publications
(47 citation statements)
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“…LTL has become a popular specification language due its expressive power and scalable control synthesis algorithms which can be tailored to specific applications. Moreover, recently, a number of issues relating to specification debugging and revision [8]- [10], on-line plan revision [3] and partial satisfaction of goals [4] are being studied. The latest developments build upon the LTL control synthesis and planning work to provide a complete set of tools for enabling Human-Robot Interaction (HRI).…”
Section: Introductionmentioning
confidence: 99%
“…LTL has become a popular specification language due its expressive power and scalable control synthesis algorithms which can be tailored to specific applications. Moreover, recently, a number of issues relating to specification debugging and revision [8]- [10], on-line plan revision [3] and partial satisfaction of goals [4] are being studied. The latest developments build upon the LTL control synthesis and planning work to provide a complete set of tools for enabling Human-Robot Interaction (HRI).…”
Section: Introductionmentioning
confidence: 99%
“…Current research such as [151][152][153][154] has investigated similar logic constraints for the robot motion planning problem in deterministic environments. The main idea is to construct suitable approximating discrete structures for logic constraints that represent well the original logical rules in the continuous state space.…”
Section: Logic Constraintsmentioning
confidence: 99%
“…However, they do not consider constraints where the cost or priority changes over time. Tumova et al [34] present an automatic generator for control strategies for a robotic vehicle where constraints are expressed with LTL formulae. The novelty is the possibility of violating a constraint, according to its priority, in order to complete the task (e.g., a road lane should not be crossed, but this is allowed during car parking).…”
Section: Global Constraints and Preferencesmentioning
confidence: 99%
“…A growing set of frameworks in the literature [34,23] proposes to express temporal properties with partial satisfaction using linear temporal logic (LTL). In [23] the authors introduce a method for quantifying the satisfaction of LTL formulae, and propose a planning framework that synthesises robot trajectories with the optimal satisfaction value.…”
Section: Global Constraints and Preferencesmentioning
confidence: 99%