A Logic for Specifying Metric Temporal Constraints for Golog Programs

Executing a Golog program on an actual robot typically requires additional platform constraints to be satisfied. Such constraints are often temporal, refer to metric time, and require modifications to the abstract Golog program. Based on ES and ESG, modal variants of the Situation Calculus, we propose the logic t-ESG, a logic which allows the specification of metric temporal constraints for Golog programs. We provide a comparison to ESG and show that Metric Temporal Logic (MTL) can be embedded into t-ESG. We show how to formulate constraints using a model of the robot platform, and we sketch a procedure that solves those constraints using Simple Temporal Networks (STNs).

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