TY - GEN
T1 - Reconfigurable motion planning and control in obstacle cluttered environments under timed temporal tasks
AU - Verginis, Christos K.
AU - Vrohidis, Constantinos
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
AU - Dimarogonas, Dimos V.
N1 - Funding Information:
1KTH Center of Autonomous Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, SE-100 44, Stockholm, Sweden. Email: {cverginis, dimos}@kth.se. This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the European Union’s Horizon 2020 Research and Innovation Programme under the GA No. 731869 (Co4Robots), the Swedish Research Council (VR), the Knut och Alice Wallenberg Foundation (KAW) and the Swedish Foundation for Strategic Research (SSF) 2 Control Systems Laboratory, School of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece. Electronic addresses: {vroh, chmpechl, kkyria}@mail.ntua.gr.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - This work addresses the problem of robot navigation under timed temporal specifications in workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees the accomplishment of a high-level specification expressed as a timed temporal logic formula, while preserving safety (i.e., obstacle avoidance) of the system. In particular, we utilize a motion controller that achieves safe navigation inside the workspace in predetermined time, thus allowing us to abstract the motion of the agent as a finite timed transition system among certain regions of interest. Next, we employ standard formal verification and convex optimization techniques to derive high-level timed plans that satisfy the agent's specifications. A simulation study illustrates and clarifies the proposed scheme.
AB - This work addresses the problem of robot navigation under timed temporal specifications in workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees the accomplishment of a high-level specification expressed as a timed temporal logic formula, while preserving safety (i.e., obstacle avoidance) of the system. In particular, we utilize a motion controller that achieves safe navigation inside the workspace in predetermined time, thus allowing us to abstract the motion of the agent as a finite timed transition system among certain regions of interest. Next, we employ standard formal verification and convex optimization techniques to derive high-level timed plans that satisfy the agent's specifications. A simulation study illustrates and clarifies the proposed scheme.
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U2 - 10.1109/ICRA.2019.8794000
DO - 10.1109/ICRA.2019.8794000
M3 - Conference contribution
AN - SCOPUS:85071428574
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 951
EP - 957
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -