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 - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071428574&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071428574&partnerID=8YFLogxK
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 -