Physics-based Motion Planning with Temporal Logic Specifications
Visualitza/Obre
10.1016/j.ifacol.2017.08.1578
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/110991
Tipus de documentComunicació de congrés
Data publicació2017-07-01
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjectePRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA (MINECO-DPI2013-40882-P)
ROBOTS MANIPULADORES MOVILES COMO CO-OPERARIOS: AUTONOMIA E INTERACCION EN LA COLABORACION HUMANO-ROBOT (MINECO-DPI2014-57757-R)
ROBOTS MANIPULADORES MOVILES COMO CO-OPERARIOS: AUTONOMIA E INTERACCION EN LA COLABORACION HUMANO-ROBOT (MINECO-DPI2014-57757-R)
Abstract
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.
Descripció
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.
CitacióUd Din, M., Akbari, A., Rosell, J. Physics-based Motion Planning with Temporal Logic Specifications. A: "IFAC-PapersOnLine". 2017, p. 8993-8999.
ISSN2405-8963
Fitxers | Descripció | Mida | Format | Visualitza |
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LTLPlanning.pdf | 718,9Kb | Visualitza/Obre |