A really abstract concurrent model and its temporal logic
POPL '86 Proceedings of the 13th ACM SIGACT-SIGPLAN symposium on Principles of programming languages
AI '01 Proceedings of the 14th Australian Joint Conference on Artificial Intelligence: Advances in Artificial Intelligence
Automata-Theoretic Approach to Planning for Temporally Extended Goals
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
Robust hybrid control for autonomous vehicle motion planning
Robust hybrid control for autonomous vehicle motion planning
The temporal logic of programs
SFCS '77 Proceedings of the 18th Annual Symposium on Foundations of Computer Science
Robustness of temporal logic specifications
Robustness of temporal logic specifications
CIAA'03 Proceedings of the 8th international conference on Implementation and application of automata
Hierarchical synthesis of hybrid controllers from temporal logic specifications
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
A fully automated framework for control of linear systems from LTL specifications
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
A control problem for affine dynamical systems on a full-dimensional polytope
Automatica (Journal of IFAC)
MTL robust testing and verification for LPV systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
Synthesis of output feedback control for motion planning based on LTL specifications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Guaranteed global performance through local coordinations
Automatica (Journal of IFAC)
Brief paper: Reachability and stabilization of discrete-time affine systems with disturbances
Automatica (Journal of IFAC)
Optimal path planning for surveillance with temporal-logic constraints*
International Journal of Robotics Research
Trajectory planning for a car-like robot by environment abstraction
Robotics and Autonomous Systems
Optimizing motion of robotic manipulators in interaction with human operators
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Verification of Periodically Controlled Hybrid Systems: Application to an Autonomous Vehicle
ACM Transactions on Embedded Computing Systems (TECS) - Special Section on CAPA'09, Special Section on WHS'09, and Special Section VCPSS' 09
Automatic behavior composition synthesis
Artificial Intelligence
Specification-guided controller synthesis for linear systems and safe linear-time temporal logic
Proceedings of the 16th international conference on Hybrid systems: computation and control
Iterative temporal motion planning for hybrid systems in partially unknown environments
Proceedings of the 16th international conference on Hybrid systems: computation and control
Formal modeling of robot behavior with learning
Neural Computation
| Hi-index | 22.15 |
In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law that enables the dynamic model to track a simpler kinematic model with a globally bounded error. Second, we built a robust temporal logic specification that takes into account the tracking errors of the first step. Finally, we solve the new robust temporal logic path planning problem for the kinematic model using automata theory and simple local vector fields. The resulting continuous time trajectory is provably guaranteed to satisfy the initial user specification.