This paper appears in: Robotics and Automation, 2007 IEEE International Conference on
Publication Date: 10-14 April 2007
On page(s): 3116-3121
Location: Roma,
ISSN: 1050-4729
ISBN: 1-4244-0601-3
INSPEC Accession Number: 9561757
Digital Object Identifier: 10.1109/ROBOT.2007.363946
Current Version Published: 2007-05-21
Abstract
Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, resulting in a novel paradigm for sensor-based temporal logic motion planning. As one robot is part of the environment of another robot, our sensor-based framework very naturally captures multi-robot specifications. Our computational approach is based on first creating discrete controllers satisfying so-called general reactivity formulas. If feasible, the discrete controller is then used in order to guide the sensor-based composition of continuous controllers resulting in a hybrid controller satisfying the high level specification, but only if the environment is admissible.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
