Publication details

Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints

Authors

SVOREŇOVÁ Mária TŮMOVÁ Jana BARNAT Jiří ČERNÁ Ivana

Year of publication 2012
Type Article in Proceedings
Conference Proceedings of the 51st IEEE Conference on Decision and Control
MU Faculty or unit

Faculty of Informatics

Citation
Web http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6426041
Doi http://dx.doi.org/10.1109/CDC.2012.6426041
Field Informatics
Keywords receding horizon planning; formal methods; control strategy synthesis; linear temporal logic; optimal planning
Description Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. The robot aims to accomplish a highlevel temporal logic surveillance mission and to locally optimize the collection of the rewards in the visited regions. These two objectives often conflict and only a compromise between them can be reached. We address this issue by taking into consideration a user-defined preference function that captures the trade-off between the importance of collecting high rewards and the importance of making progress towards a surveyed region. Our solution leverages ideas from the automata-based approach to model checking. We demonstrate the utilization of the suggested framework in an illustrative example.
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