Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints
| Authors | |
|---|---|
| Year of publication | 2012 |
| Type | Article in Proceedings |
| Conference | Proceedings of the 51st IEEE Conference on Decision and Control |
| MU Faculty or unit | |
| Citation | |
| Web | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6426041 |
| Doi | http://dx.doi.org/10.1109/CDC.2012.6426041 |
| Field | Informatics |
| Keywords | receding horizon planning; formal methods; control strategy synthesis; linear temporal logic; optimal planning |
| Description | Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. The robot aims to accomplish a highlevel temporal logic surveillance mission and to locally optimize the collection of the rewards in the visited regions. These two objectives often conflict and only a compromise between them can be reached. We address this issue by taking into consideration a user-defined preference function that captures the trade-off between the importance of collecting high rewards and the importance of making progress towards a surveyed region. Our solution leverages ideas from the automata-based approach to model checking. We demonstrate the utilization of the suggested framework in an illustrative example. |
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