Motion planning with hybrid dynamics and temporal goals

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2010, Pages 1108-1115

  Bhatia, Amit ^a   Kavraki, Lydia E ^a   Vardi, Moshe Y ^a  

^a Rice University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ABSTRACTING; COMPUTATION THEORY; DYNAMICS; HYBRID SYSTEMS; MOTION PLANNING; ROBOTS;

CONTINUOUS SYSTEM; DISCRETE ABSTRACTION; FEASIBLE SOLUTION; HYBRID DYNAMICS; NONLINEAR HYBRID SYSTEMS; PLANNING PROBLEM; SAMPLING-BASED; TEMPORAL LOGIC SPECIFICATIONS;

ROBOT PROGRAMMING;

EID: 79953131241     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2010.5717440     Document Type: Conference Paper

References (30)

1. H. Choset, K. M Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. 2005.
2. S. M. LaValle. Planning Algorithms. Cambridge University Press, 1st edition, 2006.
3. E. Frazzoli. Robust Hybrid Control for Autonomous Vehicle Motion Planning. PhD thesis, Massachusetts Institute of Technology, Cambridge, MA, USA, 2001.
4. A. Bhatia and E. Frazzoli. Incremental search methods for reachability analysis of continuous and hybrid systems. In HSCC'04, volume 2993 of LNCS, pages 142-156. Springer, 2004.
5. J. Kim, J. M. Esposito, and V. Kumar. An RRT-based algorithm for testing and validating multi-robot controllers. In RSS'05, 2005.
6. M. S. Branicky, M. M. Curtiss, J. Levine, and S. Morgan. Sampling-based planning, control and verification of hybrid systems. Control Theory and Applications, IEEE Proceedings -, 153(5):575-590, 2006. (Pubitemid 44561814)
7. A. Bhatia and E. Frazzoli. Sampling-based resolution-complete algorithms for safety falsification of linear systems. In HSCC'08, volume 4981 of LNCS, pages 606-609. Springer, 2008.
8. T. Dang and T. Nahhal. Coverage-guided test generation for continuous and hybrid systems. Formal Methods in System Design, 34(2):183-213, 2009.
9. E. Plaku, L. E. Kavraki, and M. Y. Vardi. Hybrid systems: from verification to falsification by combining motion planning and discrete search. Formal Methods in System Design, 34(2):157-182, 2009.
10. O. Kupferman and M. Y. Vardi. Model checking of safety properties. Formal Methods in System Design, 19:291-314, 2001.
11. A. Pnueli. The temporal logic of programs. In SFCS '77, pages 46-57. IEEE Computer Society, 1977.
12. E. M. Clarke, O. Grumberg, and D. A. Peled. Model Checking. 2000.
13. S. G. Loizou and K. J. Kyriakopoulos. Automatic synthesis of multiagent motion tasks based on LTL specifications. In IEEE Conference on Decision and Control, volume 1, pages 153-158 Vol.1, 2004.
14. M. Kloetzer and C. Belta. A fully automated framework for control of linear systems from temporal logic specifications. IEEE Transactions on Automatic Control, 53(1):287-297, 2008.
15. S. Karaman and E. Frazzoli. Complex mission optimization for multiple-UAVs using linear temporal logic. In American Control Conference, pages 2003-2009, 2008.
16. E. Plaku, L. E. Kavraki, and M. Y. Vardi. Falsification of LTL safety properties in hybrid systems. In International Conference on Tools and Algorithms for the Construction and Analysis of Systems, volume 5505 of LNCS, pages 368-382. Springer-Verlag, 2009.
17. G. Fainekos, A. Girard, H. Kress-Gazit, and G. J. Pappas. Temporal logic motion planning for dynamic robots. Automatica, 45:343-352, 2009.
18. T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding horizon temporal logic planning for dynamical systems. In IEEE Conference on Decision and Control, 2009.
19. A. Bhatia, L. E. Kavraki, and M. Y. Vardi. Sampling-based motion planning with temporal goals. In IEEE International Conference on Robotics and Automation, pages 2689-2696, 2010.
20. R. Alur, C. Courcoubetis, N. Halbwachs, T. A. Henzinger, P. H. Ho, X. Nicollin, A. Olivero, J. Sifakis, and S. Yovine. The algorithmic analysis of hybrid systems. Theoretical Computer Science, 138:3-34, 1995.
21. R. Armoni, S. Egorov, R. Fraer, D. Korchemny, and M. Y. Vardi. Efficient LTL compilation for SAT-based model checking. In Proceedings of the IEEE/ACM International Conference on Computer-aided design, pages 877-884, Washington, DC, USA, 2005. IEEE Computer Society.
22. T. Dang, A. Donze, O. Maler, and N. Shalev. Sensitive state-space exploration. In IEEE CDC'08, pages 4049-4054. IEEE, Dec. 2008.
23. E. Plaku, L. E. Kavraki, and M. Y. Vardi. Impact of workspace decompositions on discrete search leading continuous exploration (DSLX) motion planning. In IEEE International Conference on Robotics and Automation, pages 3751-3756. IEEE, 2008.
24. C. Belta, V. Isler, and G. J. Pappas. Discrete abstractions for robot motion planning and control in polygonal environments. IEEE Transactions on Robotics, 21, 2005.
25. R. Alur, T. A. Henzinger, G. Lafferriere, and G. J. Pappas. Discrete abstractions of hybrid systems. Proceedings of the IEEE, 88:971-984, 2000.
26. J. Shewchuk. Triangle: Engineering a 2D quality mesh generator and Delaunay triangulator. In Applied Computational Geometry Towards Geometric Engineering, volume 1148 of LNCS, chapter 23, pages 203-222. Springer-Verlag, 1996.
27. M. Y. Vardi. An automata-theoretic approach to linear temporal logic. In the VIII Banff Higher order workshop conference on Logics for concurrency : structure versus automata, pages 238-266. Springer-Verlag New York, Inc., 1996.
28. P. Tabuada and G. J. Pappas. Linear time logic control of discretetime linear systems. IEEE Transactions on Automatic Control, 51(12):1862-1877, 2006.
29. E. Plaku, K. E. Bekris, and L. E. Kavraki. OOPS for motion planning: An online, open-source, programming system. In IEEE International Conference on Robotics and Automation, pages 3711-3716, 2007. Available for download at http://www.kavrakilab.org/OOPSMP.
30. T. Latvala. Efficient model checking of safety properties. In Model Checking Software, volume 2648 of LNCS, pages 74-88. Springer, 2003.