Temporal logic motion planning for mobile robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 2020-2025

  Fainekos, Georgios E ^a   Kress Gazit, Hadas ^a   Pappas, George J ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Discrete abstractions; Hybrid control; Model checking; Motion planning; Temporal logics

Indexed keywords

ABSTRACTING; COMPUTATIONAL METHODS; DISCRETE TIME CONTROL SYSTEMS; MOTION PLANNING;

CHECKING TOOLS; DISCRETE ABSTRACTIONS; HYBRID CONTROL; MODEL CHECKING; TEMPORAL LOGICS;

MOBILE ROBOTS;

EID: 33845650206     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570410     Document Type: Conference Paper

References (20)

1. S. M. LaValle, "Planning Algorithms", [Online, Available at http://msl.cs.uiuc.edu/planning/], 2004
2. H. Choset, K. M. Lynch, L. Kavraki, W. Burgard, S. A. Hutchinson, G. Kantor, and S. Thrun. Robotic Motion Planning: Foundations and Implementation. 2004. In preparation.
3. M. Antoniotti and B. Mishra, "Discrete Event Models + Temporal logic = Supervisory Controller: Automatic Synthesis of Locomotion Controllers", IEEE International Conference on Robotics and Automation, 1995.
4. G.J. Holzmann, "The Spin Model Checker Primer and Reference Manual", Addison-Wesley, Reading Massachusetts, 2004.
5. A. Cimatti, E. M. Clarke, E. Giunchiglia, F. Giunchiglia, M. Pistore, M. Roveri, R. Sebastiani and A. Tacchella, "NuSMV 2: An OpenSource Tool for Symbolic Model Checking", In Proceeding of International Conference on Computer-Aided Verification (CAV 2002), Copenhagen, Denmark, July 27-31, 2002.
6. P. Bertoli, A. Cimatti, M. Pistore, M. Roveri, and P. Traverse, "MBP: A Model Based Planner", In Proc. IJCAI'01 Workshop on Planning under Uncertainty and Incomplete Information, 2001.
7. F. Bacchus and F. Kabanza, "Using Temporal Logics to Express Search Control Knowledge for Planning", Artificial Intelligence, vol 116, 2000.
8. R.M. Jensen and M. M. Veloso, "OBDD-based Universal Planning for Synchronized Agents in Non-Deterministic Domains", Journal of Artificial Intelligence Research, 2000, Volume 13, 189-226.
9. D.C. Conner, A. Rizzi, and H. Choset, "Composition of local potential functions for global robot control and navigation", Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE, Vol. 4, October, 2003, pp. 3546-3551.
10. C. Belta and L.C.G.J.M. Habets, "Constructing decidable hybrid systems with velocity bounds", 43rd IEEE Conference on Decision and Control, Bahamas, Dec 2004.
11. R. Alur, T. A. Henzinger, G. Lafferriere, and G. J. Pappas. "Discrete abstractions of hybrid systems", Proceedings of the IEEE, 88:971984, 2000.
12. P. Tabuada and G. J. Pappas. Model checking LTL over controllable linear systems is decidable. Hybrid Systems : Computation and Control. volume 2623 of Lecture Notes in Computer Science. Springer-Verlag, Prague, 2003.
13. S. Loizou and K. Kyriakopoulos, "Automatic Synthesis of Multi-Agent Motion Tasks Based on LTL Specifications", 43rd IEEE Conference on Decision and Control, Bahamas, Dec 2004.
14. E. Rimon and D. E. Kodischek, "Exact robot navigation using artificial potential functions", IEEE Transactions on Robotics and Automation, 8(5):501-518, 1992.
15. M.M. Quottrup, T. Bak, and R. Izadi-Zamanabadi, "Multi-Robot Planning: A Timed Automata Approach", Proc. 2004 IEEE Int. Conf. on Robotics and Automation, New Orleans, LA.
16. A. E. Emerson, "Temporal and Modal Logic", in: Van Leeuwen (ed) Handbook of Theoretical Computer Science, Vol. B, pp. 997-1072, Elsevier Science Publishers, 1990.
17. M. de Berg, M. van Kreveld, M. Overmars and O. Schwarzkopf, "Computational Geometry: Algorithms and Applications", 2nd rev. ed. 2000.
18. A. Narkhede, and D. Manocha, "Fast Polygon Triangulation based on Seidel's Algorithm", [Online at http://www.cs.unc.edu/dm/CODE/GEM/chapter. html#Seidel91].
19. E. M. Clarke, O. Grumberg and D. A. Peled, "Model Checking", The MIT Press, Cambrige, MA, 1999.
20. L.C.G.J.M. Habets and J.H. van Schuppen. A control problem for affine dynamical systems on a full-dimensional polytope. Automatica, 40:21-35, 2004.