TY - GEN

T1 - Robot Navigation under MITL Constraints Using Time-Dependent Vector Field Based Control

AU - Mavridis, Christos N.

AU - Vrohidis, Constantinos

AU - Baras, John S.

AU - Kyriakopoulos, Kostas J.

N1 - Funding Information:
VII. ACKNOWLEDGMENT The work of Christos Mavridis and John Baras was partially supported by ONR grant N00014-17-1-2622.
Publisher Copyright:
© 2019 IEEE.

PY - 2019/12

Y1 - 2019/12

N2 - In this work, we consider the problem of robot navigation, under spatial and temporal constraints, modeled as Metric Interval Temporal Logic (MITL) formulas. We introduce appropriate control schemes, driven by time-dependent vector fields, that satisfy both the problems of (a) entering an arbitrary neighborhood of the workspace within a given time interval, and, (b) avoiding collision with any given obstacle. We model the problems (a) and (b) as MITL formulas, defined upon a specific class of atomic propositions, and proceed in building more complex MITL expressions that can be decomposed into a conjunction of the former formulas. Finally, we propose a way to generate a hybrid automaton, whose execution satisfies the given MITL formula, by appropriately composing the control schemes. We validate our methodology via a numerical simulation.

AB - In this work, we consider the problem of robot navigation, under spatial and temporal constraints, modeled as Metric Interval Temporal Logic (MITL) formulas. We introduce appropriate control schemes, driven by time-dependent vector fields, that satisfy both the problems of (a) entering an arbitrary neighborhood of the workspace within a given time interval, and, (b) avoiding collision with any given obstacle. We model the problems (a) and (b) as MITL formulas, defined upon a specific class of atomic propositions, and proceed in building more complex MITL expressions that can be decomposed into a conjunction of the former formulas. Finally, we propose a way to generate a hybrid automaton, whose execution satisfies the given MITL formula, by appropriately composing the control schemes. We validate our methodology via a numerical simulation.

UR - http://www.scopus.com/inward/record.url?scp=85082490394&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85082490394&partnerID=8YFLogxK

U2 - 10.1109/CDC40024.2019.9028890

DO - 10.1109/CDC40024.2019.9028890

M3 - Conference contribution

AN - SCOPUS:85082490394

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 232

EP - 237

BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 58th IEEE Conference on Decision and Control, CDC 2019

Y2 - 11 December 2019 through 13 December 2019

ER -