Linear Temporal Logic-based Mission Planning

TitleLinear Temporal Logic-based Mission Planning
Publication TypeJournal Article
Year of Publication2016
AuthorsKumar, A., and R. Kala
JournalInternational Journal of Interactive Multimedia and Artificial Intelligence
IssueRegular Issue
Date Published06/2016

In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot.

KeywordsLinear features, Planning, Robotics, Temporal Logic
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