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.
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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 -