Robust motion planning employing signal temporal logic

Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To address this issue, temporal logics have recently been used to formulate such advanced specifications. This paper will consider Signal Temporal Logic in combination with Model Predictive Control. A robustness metric, called Discrete Average Space Robustness, is introduced and used to maximize the satisfaction of specifications which results in a natural robustness against noise. The comprised optimization problem is convex and formulated as a Linear Program.

[1]  Dimos V. Dimarogonas,et al.  Cooperative task planning of multi-agent systems under timed temporal specifications , 2016, 2016 American Control Conference (ACC).

[2]  Dimos V. Dimarogonas,et al.  Multi-agent plan reconfiguration under local LTL specifications , 2015, Int. J. Robotics Res..

[3]  Oded Maler,et al.  Robust Satisfaction of Temporal Logic over Real-Valued Signals , 2010, FORMATS.

[4]  Alberto L. Sangiovanni-Vincentelli,et al.  Model predictive control with signal temporal logic specifications , 2014, 53rd IEEE Conference on Decision and Control.

[5]  Calin Belta,et al.  Robust temporal logic model predictive control , 2015, 2015 53rd Annual Allerton Conference on Communication, Control, and Computing (Allerton).

[6]  George J. Pappas,et al.  Robustness of temporal logic specifications for continuous-time signals , 2009, Theor. Comput. Sci..

[7]  Christel Baier,et al.  Principles of model checking , 2008 .

[8]  Dimos V. Dimarogonas,et al.  Robust control for signal temporal logic specifications using discrete average space robustness , 2019, Autom..

[9]  Ichiro Hasuo,et al.  Time Robustness in MTL and Expressivity in Hybrid System Falsification , 2015, CAV.

[10]  Dejan Nickovic,et al.  Monitoring Temporal Properties of Continuous Signals , 2004, FORMATS/FTRTFT.

[11]  Dimos V. Dimarogonas,et al.  Robust Control for Signal Temporal Logic Specifications using Average Space Robustness , 2016, ArXiv.

[12]  Stephen P. Boyd,et al.  Convex Optimization , 2004, Algorithms and Theory of Computation Handbook.

[13]  Hadas Kress-Gazit,et al.  Temporal-Logic-Based Reactive Mission and Motion Planning , 2009, IEEE Transactions on Robotics.