Hybrid Controllers for Path Planning: A Temporal Logic Approach
Fainekos, G.E.
Kress-Gazit, H.
Pappas, G.J.
GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. E-mail: fainekos@grasp.cis.upenn.edu;
Abstract
Robot motion planning algorithms have focused on low-level reachability goals taking into account robot kinematics, or on high level task planning while ignoring low-level dynamics. In this paper, we present an integrated approach to the design of closed–loop hybrid controllers that guarantee by construction that the resulting continuous robot trajectories satisfy sophisticated specifications expressed in the so–called Linear Temporal Logic. In addition, our framework ensures that the temporal logic specification is satisfied even in the presence of an adversary that may instantaneously reposition the robot within the environment a finite number of times. This is achieved by obtaining a Büchi automaton realization of the temporal logic specification, which supervises a finite family of continuous feedback controllers, ensuring consistency between the discrete plan and the continuous execution.
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