From structured english to robot motion

Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.

[1]  Deb Roy,et al.  Grounded Situation Models for Robots: Where words and percepts meet , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  David C. Conner,et al.  Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems , 2006 .

[3]  Stephan Merz,et al.  Model Checking , 2000 .

[4]  Stephen Pulman,et al.  Controlled Language for Knowledge Representation , 1996 .

[5]  Guido Bugmann,et al.  Converting natural language route instructions into robot executable procedures , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[6]  Betty H. C. Cheng,et al.  Facilitating the construction of specification pattern-based properties , 2005, 13th IEEE International Conference on Requirements Engineering (RE'05).

[7]  Hadas Kress-Gazit,et al.  Valet parking without a valet , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Howie Choset,et al.  Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1 , 2007 .

[9]  Wolfgang Müller,et al.  Structured English for Model Checking Specification , 2000, MBMV.

[10]  Monica N. Nicolescu,et al.  Learning and interacting in human-robot domains , 2001, IEEE Trans. Syst. Man Cybern. Part A.

[11]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[12]  Howie Choset,et al.  Composition of local potential functions for global robot control and navigation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[13]  Hadas Kress-Gazit,et al.  Where's Waldo? Sensor-Based Temporal Logic Motion Planning , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[14]  C. Belta,et al.  Constructing decidable hybrid systems with velocity bounds , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[15]  Calin Belta,et al.  Hierarchical abstractions for robotic swarms , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[16]  George J. Pappas,et al.  Hybrid Controllers for Path Planning: A Temporal Logic Approach , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[17]  Henrik I. Christensen,et al.  Bringing Together Human and Robotic Environment Representations - A Pilot Study , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Hadas Kress-Gazit,et al.  Temporal Logic Motion Planning for Mobile Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[19]  Ewan Klein,et al.  A semantically-derived subset of English for hardware verification , 1999, ACL.

[20]  Amir Pnueli,et al.  Synthesis of Reactive(1) Designs , 2006, VMCAI.

[21]  Antoine Girard,et al.  Hierarchical Synthesis of Hybrid Controllers from Temporal Logic Specifications , 2007, HSCC.

[22]  W. Smart,et al.  Programming Robots using High-Level Task Descriptions , 2004 .

[23]  Steven M. LaValle,et al.  Computing Smooth Feedback Plans Over Cylindrical Algebraic Decompositions , 2006, Robotics: Science and Systems.