Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

Abstract

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.

Full Version for ECC 2016

References in corpus (2)

• Optimal Mission Planner with Timed Temporal Logic Constraints
• Optimal Path Planning under Temporal Logic Constraints

Cited by in corpus (2)

• Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications
• Steady-State Planning in Expected Reward Multichain MDPs