Reactive sampling-based path planning with temporal logic specifications
We develop a sampling-based motion planning algorithm that combines long-term temporal
logic goals with short-term reactive requirements. The mission specification has two parts:(1) …
logic goals with short-term reactive requirements. The mission specification has two parts:(1) …
Reactive sampling-based temporal logic path planning
We develop a sampling-based motion planning algorithm that combines long-term temporal
logic goals with short-term reactive requirements. The mission specification has two parts:(1) …
logic goals with short-term reactive requirements. The mission specification has two parts:(1) …
Sampling-based temporal logic path planning
In this paper, we propose a sampling-based motion planning algorithm that finds an infinite
path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by …
path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by …
A unified sampling-based approach to integrated task and motion planning
W Thomason, RA Knepper - The International Symposium of Robotics …, 2019 - Springer
We present a novel method for performing integrated task and motion planning (TMP) by
adapting any off-the-shelf sampling-based motion planning algorithm to simultaneously …
adapting any off-the-shelf sampling-based motion planning algorithm to simultaneously …
Sampling-based motion planning with temporal goals
This paper presents a geometry-based, multi-layered synergistic approach to solve motion
planning problems for mobile robots involving temporal goals. The temporal goals are …
planning problems for mobile robots involving temporal goals. The temporal goals are …
Integrating temporal reasoning and sampling-based motion planning for multigoal problems with dynamics and time windows
S Edelkamp, M Lahijanian… - IEEE Robotics and …, 2018 - ieeexplore.ieee.org
Robots used for inspection, package deliveries, moving of goods, and other logistics
operations are often required to visit certain locations within specified time bounds. This …
operations are often required to visit certain locations within specified time bounds. This …
Motion planning with dynamics by a synergistic combination of layers of planning
To efficiently solve challenges related to motion-planning problems with dynamics, this
paper proposes treating motion planning not just as a search problem in a continuous space …
paper proposes treating motion planning not just as a search problem in a continuous space …
Optimality and robustness in multi-robot path planning with temporal logic constraints
In this paper we present a method for automatic planning of optimal paths for a group of
robots that satisfy a common high-level mission specification. The motion of each robot is …
robots that satisfy a common high-level mission specification. The motion of each robot is …
Asymptotically optimal stochastic motion planning with temporal goals
This work presents a planning framework that allows a robot with stochastic action
uncertainty to achieve a high-level task given in the form of a temporal logic formula. The …
uncertainty to achieve a high-level task given in the form of a temporal logic formula. The …
Revising temporal logic specifications for motion planning
GE Fainekos - 2011 IEEE international conference on robotics …, 2011 - ieeexplore.ieee.org
In this paper, we introduce the problem of automatic formula revision for Linear Temporal
Logic (LTL) motion planning specifications. Namely, if a specification cannot be satisfied on …
Logic (LTL) motion planning specifications. Namely, if a specification cannot be satisfied on …