Journal Article10.1109/MRA.2011.942115
Motion Planning with Complex Goals
149
TL;DR: This article describes approach for solving motion planning problems for mobile robots involving temporal goals and a wide variety of techniques have been pro posed over the last two decades to solve such problems.
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Abstract: This article describes approach for solving motion planning problems for mobile robots involving temporal goals. Traditional motion planning for mobile robotic systems involves the construction of a motion plan that takes the system from an initial state to a set of goal states while avoiding collisions with obstacles at all times. The motion plan is also required to respect the dynamics of the system that are typically described by a set of differential equations. A wide variety of techniques have been pro posed over the last two decades to solve such problems [1], [2].
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Citations
Automated Planning: Theory and Practice.
Stefan Edelkamp
- 01 Jan 2007
TL;DR: A translation apparatus is provided which comprises an inputting section for inputting a source document in a natural language and a layout analyzing section for analyzing layout information.
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Multi-agent plan reconfiguration under local LTL specifications
Meng Guo,Dimos V. Dimarogonas +1 more
TL;DR: A cooperative motion and task planning scheme for multi-agent systems where the agents have independently assigned local tasks, specified as linear temporal logic formulas, that is ensured that the hard specification is always fulfilled for safety and the satisfaction for the soft specification is improved gradually.
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Incremental Task and Motion Planning: A Constraint-Based Approach
Neil T. Dantam,Zachary Kingston,Swarat Chaudhuri,Lydia E. Kavraki +3 more
- 18 Jun 2016
TL;DR: The Iteratively Deepened Task and Motion Planning method is probabilistically-complete and offers improved performance and generality compared to a similar, state-of-theart, probabilistic-complete planner.
224
An incremental constraint-based framework for task and motion planning
TL;DR: A new constraint-based framework for task and motion planning (TMP) is presented, which is extensible, probabilistically complete, and offers improved performance and generality compared with a similar, state-of-the-art planner.
169
Optimization-based trajectory generation with linear temporal logic specifications
Eric M. Wolff,Ufuk Topcu,Richard M. Murray +2 more
- 29 Sep 2014
TL;DR: This work uses linear temporal logic (LTL) to specify a wide range of properties and tasks, such as safety, progress, response, surveillance, repeated assembly, and environmental monitoring, and directly encodes an LTL formula as mixed-integer linear constraints on the continuous system variables.
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