Reactive Sampling-Based Temporal Logic Path Planning

Cristian-Ioan Vasile and Calin Belta. Reactive Sampling-Based Temporal Logic Path Planning. In IEEE International Conference on Robotics and Automation (ICRA), pages 4310–4315, Hong Kong, China, June 2014. doi: 10.1109/ICRA.2014.6907486.

Published date: 
Tuesday, June 3, 2014

We develop a sampling-based motion planning algorithm that combines long-term temporal logic goals with short-term reactive requirements. The mission specification has two parts: (1) a global specification given as a Linear Temporal Logic (LTL) formula over a set of static service requests that occur at the regions of a known environment, and (2) a local specification that requires servicing a set of dynamic requests that can be sensed locally during the execution. Our method consists of two main ingredients: (a) an off-line sampling-based algorithm for the construction of a global transition system that contains a path satisfying the LTL formula, and (b) an on-line sampling-based algorithm to generate paths that service the local requests, while making sure that the satisfaction of the global specification is not affected. Building on our previous work [1], the focus of this paper is on the on-line part of the overall method.