Temporal logic planning for dynamic models

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-00379759
Contributor : Antoine Girard <>
Submitted on : Wednesday, April 29, 2009 - 11:51:06 AM
Last modification on : Tuesday, October 29, 2019 - 11:10:07 AM

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Georgios E. Fainekos, Antoine Girard, Haddas Kress-Gazit, George J. Pappas. Temporal logic planning for dynamic models. Automatica, Elsevier, 2009, 45 (2), pp.343-352. ⟨10.1016/j.automatica.2008.08.008⟩. ⟨hal-00379759⟩

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