Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

Title : Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic
Authors :
Zhou, Yuchen
Maity, Dipankar
Baras, John, S.
Conference : European Control Conference (ECC16) pp. 690-695
Date: June 29 - July 01, 2016

In this paper, we consider the robot motion (or task) planning problem under some given bounded time high-level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.

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