Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment

Abstract

Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a key assumption that user-specified tasks are feasible in the given environment. Challenges arise when the operating environment is dynamic and unknown since the environment can be found prohibitive, leading to potentially conflicting tasks where pre-specified timed missions cannot be fully satisfied. Such issues become even more challenging when considering time-bound requirements. To address these challenges, this work proposes a control framework that considers hard constraints to enforce safety requirements and soft constraints to enable task relaxation. The metric interval temporal logic (MITL) specifications are employed to deal with time-bound constraints. By constructing a relaxed timed product automaton, an online motion planning strategy is synthesized with a receding horizon controller to generate policies, achieving multiple objectives in decreasing order of priority 1) formally guarantee the satisfaction of hard safety constraints; 2) mostly fulfill soft timed tasks; and 3) collect time-varying rewards as much as possible. Another novelty of the relaxed structure is to consider violations of both time and tasks for infeasible cases. Simulation results are provided to validate the proposed approach.

under review

References in corpus (5)

• Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications
• Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction
• Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment
• Safety-Critical Learning of Robot Control with Temporal Logic Specifications
• Policy Synthesis for Metric Interval Temporal Logic with Probabilistic Distributions

Cited by in corpus (1)

• Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment