From structured english to robot motion
Kress-Gazit, H.
Fainekos, G.E.
Pappas, G.J.
Univ. of Pennsylvania, Philadelphia;
This paper appears in: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Publication Date: Oct. 29 2007-Nov. 2 2007
On page(s): 2717-2722
Location: San Diego, CA,
ISBN: 978-1-4244-0912-9
INSPEC Accession Number: 9862183
Digital Object Identifier: 10.1109/IROS.2007.4398998
Current Version Published: 2007-12-10
Abstract
Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.
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