Title:
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Physics-based Motion Planning with Temporal Logic Specifications
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Author:
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Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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The final version of this work is available at https://doi.org/10.1016/j.ifacol.2017.08.1578
Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. |
Abstract:
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One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions to guide sampling-based motion planning, with the aim of finding dynamically-feasible motions that satisfy the temporal-logic task specifications. The present paper proposes an LTL planning approach enhanced with the use of ontologies to describe and reason about the task, on the one hand, and that includes physics-based motion planning to allow the purposeful manipulation of objects, on the other hand. The proposal has been implemented and is illustrated with didactic examples with a mobile robot in simple scenarios where some of the goals are occupied with objects that must be removed in order to fulfill the task. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots-Automatic control -Robots-Motion -knowledge-based reasoning -Physics-based motion planning -sampling-based LTL planning -Robots-Control automàtic -Robots--Moviment |
Rights:
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Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Article - Submitted version Conference Object |
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