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Just-in-time synthesis for motion planning with temporal logic |
Abstract |
The cost of the great expressivity of moti … The cost of the great expressivity of motion planning subject to temporal logic formulae is intractability. Recent advances in sampling-based methods seem to be only applicable to âlow-levelâ control. The problem of realizing âhigh-levelâ controllers that satisfy a temporal logic specification does not readily admit approximations, unless the notion of correctness is relaxed as might be achieved with probabilistic variants of temporal logics. In this paper, we argue that not all possible environment (uncontrolled) behaviors need to be explicitly planned for, but rather short-time strategies can be generated online while maintaining global correctness. We achieve this by separating feasibility from controller synthesis, using a metric from the underlying continuous state space to ensure short-time strategies chained together provide globally correct behavior. ogether provide globally correct behavior. +
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Authors | Scott C. Livingston and Richard M. Murray + |
Funding | Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems + |
ID | 2012o + |
Source | 2013 International Conference on Robotics and Automation (ICRA) + |
Tag | lm13-icra + |
Title | Just-in-time synthesis for motion planning with temporal logic + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:15:40 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/lm13-icra.pdf + |
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Just-in-time synthesis for motion planning with temporal logic + | Title |
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