Browse wiki

From MurrayWiki
Jump to: navigation, search
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 “low-level” control. The problem of realizing “high-level” 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.  +
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.
15 May 2016 06:15:40  +
URL
This property is a special property in this wiki.
http://www.cds.caltech.edu/~murray/preprints/lm13-icra.pdf  +
show properties that link here 

 

Enter the name of the page to start browsing from.