Temporal logic motion planning for dynamic robots

By Georgios Fainekos, Antoine Girard, Hadas Kress-Gazit, George Pappas. at - Automatisierungstechnik, 2009

493 citations recorded by the source corpus.

Subfields: Computational Theory and Mathematics, Computer Vision and Pattern Recognition, Software

View Paper: https://www.semanticscholar.org/paper/881a5e20469d8d63e6a834ccfd713ebfb55702be

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In Computational Theory and Mathematics

In Computer Vision and Pattern Recognition

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Citations in the corpus

Online Verification of Automated Road Vehicles Using Reachability Analysis (2014, background): “Unfortunately, this is rarely the case due to uncertain parameters (loading of the vehicle, tire-road friction, etc.) and disturbances (road imperfections, wind, slope, etc.) so that the stability analysis of the undisturbed model becomes inconclusive.”
Control Barrier Functions for Signal Temporal Logic Tasks (2019, background): “Existing approaches that use linear temporal logic (LTL) rely on abstracting the system dynamics into a finite state transition system [2], [3].”
Hamilton-Jacobi reachability: A brief overview and recent advances (2017, background): “For example, propositional temporal logic over the reals [19], [20] allows specification of properties such as time in terms of real numbers, and chance-constrained temporal logic [21] allows specification of requirements in the presence of uncertainty.”
Temporal-Logic-Based Reactive Mission and Motion Planning (2009, methodology): “This paper is based on ideas presented in [7], [29], and our previous work [5], [6], and [30], such as the use of bisimulations [31], [32] to lift a continuous problem into a discrete domain while preserving important properties, as well as the use of LTL as the formalism to capture high-level…”
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms (2019, background): “with a safety specication (e.g. a nite-state automata) to guarantee (or bound the probability, in the stochastic case) that following a policy will not lead to an unsafe outcome (Fu and Topcu, 2014; Fainekos et al., 2009; Chinchali et al., 2012; Chen et al., 2013; Alshiekh et al., 2018). However, so”