#### DMCA

## Reconfiguration in Motion Planning of Single- and Multi-agent Systems under Infeasible Local LTL Specifications (2013)

Venue: | IEEE Conference on Decision and Control(CDC |

Citations: | 2 - 2 self |

### Citations

7412 | Convex Optimization
- Boyd, Vandenberghe
- 2004
(Show Context)
Citation Context ...= 1, 2 · · · ,K, l ∈ 2AP and ν ∈ {0, 1}K . Then a metric (2AP , ρ) is defined as ρ(l, l′) = ‖ν − ν′‖1 = K∑ i=1 | νi − ν′i |, (3) where ν = Eval(l), ν′ = Eval(l′) and l, l′ ∈ 2AP . ‖·‖1 is the `1 norm =-=[7]-=-. Then we could define the distance between an element l ∈ 2AP to a set χ ⊆ 2AP (χ 6= ∅) [7]: Dist(l, χ) = { 0 if l ∈ χ, minl′∈χ ρ(l, l′) otherwise. (4) Note that Dist(l, χ) is not defined for χ = ∅. ... |

3239 | Model Checking
- Clarke, Grumberg, et al.
- 2000
(Show Context)
Citation Context ...The infinite path τ that satisfies ϕ is called a motion plan for the task ϕ. C. Motion Plan Synthesis A valid motion plan τ can be found by checking the emptiness of the product Büchi automaton, see =-=[9]-=- and Algorithm 11 in [3]. The product Büchi automaton is defined as Ap = T ⊗Aϕ = (Qp, δp, Qp,0, Fp), where Qp = Π×Q; Qp,0 = Π0 × Q0 are the initial states; Fp = Π × F are the accepting states; δp ⊆ Q... |

1122 | Planning Algorithms
- LaValle
- 2006
(Show Context)
Citation Context ...near Temporal Logic (LTL) and Computation Tree Logic (CTL) provide formal high level languages that can describe planning objectives more complex than the well-studied point-to-point navigation [14], =-=[25]-=-, [27]. In this paper, we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the ... |

185 | Sampling-based algorithms for optimal motion planning
- Karaman, Frazzoli
(Show Context)
Citation Context ... as Linear Temporal Logic (LTL) and Computation Tree Logic (CTL) provide formal high level languages that can describe planning objectives more complex than the well-studied point-to-point navigation =-=[14]-=-, [25], [27]. In this paper, we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction o... |

169 |
Robot navigation functions on manifolds with boundary, Adv
- Koditschek, Rimon
- 1990
(Show Context)
Citation Context ...workspace. The workspace we consider is geometrically partitioned into N regions, denoted by the set Π = {pi0, pi1, . . . , piN}. These regions can be in different shapes, such as points of interests =-=[21]-=-, triangles [6], polygons [1] and hexagons [29]. There are different cell decomposition schemes available, depending on the robot dynamics and associated control approaches, see [1], [2], [10] and [13... |

145 | A fully automated framework for control of linear systems from temporal logic specifications
- Kloetzer, Belta
- 2008
(Show Context)
Citation Context ...he robot motion [1], [6], [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], =-=[18]-=-. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], [17], [31], the above motion planning framework reports a failure when the ... |

73 |
and Joost-Pieter Katoen. Principles of Model Checking
- Baier
- 2008
(Show Context)
Citation Context ...action of the robot motion [1], [6], [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], =-=[3]-=-, [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], [17], [31], the above motion planning framework reports a failu... |

58 | Discrete abstractions for robot motion planning and control in polygonal environments,” - Belta, Isler, et al. - 2005 |

49 | Sampling-based motion planning with temporal goals,”
- Bhatia, Kavraki, et al.
- 2010
(Show Context)
Citation Context ...is paper, we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the robot motion =-=[1]-=-, [6], [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is ... |

44 | Real-Time Motion Planning with Applications to Autonomous Urban Driving.
- Kuwata, Teo, et al.
- 2009
(Show Context)
Citation Context ...checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], =-=[24]-=-. As stressed in [16], [17], [31], the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dynamics. It i... |

39 |
Automatic deployment of distributed teams of robots from temporal logic specifications,”
- Kloetzer, Belta
- 2010
(Show Context)
Citation Context ...we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the robot motion [1], [6], =-=[19]-=-, [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implem... |

35 | Receding horizon temporal logic planning
- Wongpiromsarn, Topcu, et al.
(Show Context)
Citation Context ...low an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the robot motion [1], [6], [19], =-=[30]-=-. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented ... |

34 |
Symbolic planning and control of robot motion,”
- Belta
- 2007
(Show Context)
Citation Context ...per, we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the robot motion [1], =-=[6]-=-, [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then ... |

23 |
Motion planning with complex goals.
- Bhatia, Maly, et al.
- 2011
(Show Context)
Citation Context ...abstraction of the robot motion [1], [6], [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification =-=[2]-=-, [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], [17], [31], the above motion planning framework reports a ... |

22 | Optimal path planning for surveillance with temporal logic constraints.
- Smith, Tumova, et al.
- 2011
(Show Context)
Citation Context ...e over the FTS T if and only if Ap = T ⊗Aϕ has an accepting run. Furthermore, for any accepting run R = 〈pi0, q0〉〈pi1, q1〉 . . . of Ap, its projection onto T the sequence τ = pi0pi1 . . . satisfies ϕ =-=[33]-=-. The lower-level hybrid controller [6] that implements the motion plan is synthesized by executing the controllers associated with the transitions along the motion plan. III. RECONFIGURATION OF SINGL... |

19 | LTL Robot Motion Control based on Automata Learning of Environmental Dynamics,” - Chen, Tumova, et al. - 2012 |

19 | Temporal logicbased reactive mission and motion planning,” - Kress-Gazit, Fainekos, et al. - 2009 |

17 | Real time feedback control for nonholonomic mobile robots with obstacles,” in
- Lindemann, Hussein, et al.
- 2006
(Show Context)
Citation Context ...emporal Logic (LTL) and Computation Tree Logic (CTL) provide formal high level languages that can describe planning objectives more complex than the well-studied point-to-point navigation [14], [25], =-=[27]-=-. In this paper, we follow an approach that has gained significant popularity in recent years. The task specification is given as an LTL formula with respect to a discretized abstraction of the robot ... |

16 | Analyzing unsynthesizable specifications for high-level robot behavior using LTLMoP,” in Computer Aided Verification.
- Raman, Kress-Gazit
- 2011
(Show Context)
Citation Context ...ite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], [17], =-=[31]-=-, the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dynamics. It is desired that users could get fe... |

15 |
Automatic Deployment of Robotic Teams.
- Ding, Kloetzer, et al.
- 2011
(Show Context)
Citation Context ...shelf model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller =-=[10]-=-, [20], [24]. As stressed in [16], [17], [31], the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dy... |

13 | Safe and distributed kinodynamic replanning for vehicular networks - Bekris, Tsianos, et al. - 2009 |

13 |
Backtracking temporal logic synthesis for uncertain environments,”
- Livingston, Murray, et al.
- 2012
(Show Context)
Citation Context ...ments the topic about revising the motion plan under fixed LTL specifications when the workspace model or agent dynamics are updated, like in the cases of real-time revising [13] and local “patching” =-=[26]-=-. More importantly, we investigate the reconfiguration problem within the same framework also for multi-agent systems. Many existing works [10], [15], [32] consider the problem of decomposing a global... |

12 |
Temporal Logic Motion Planning for Dynamic Mobile Robots
- Fainekos, Girard, et al.
(Show Context)
Citation Context ...n of the robot motion [1], [6], [19], [30]. Then a high-level discrete plan is found by off-the-shelf model-checking algorithms given the finite transition system and the task specification [2], [3], =-=[11]-=-, [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], [17], [31], the above motion planning framework reports a failure whe... |

11 | Revising motion planning under linear temporal logic specifications in partially known workspaces,”
- Guo, Johansson, et al.
- 2013
(Show Context)
Citation Context ...her hand, this work complements the topic about revising the motion plan under fixed LTL specifications when the workspace model or agent dynamics are updated, like in the cases of real-time revising =-=[13]-=- and local “patching” [26]. More importantly, we investigate the reconfiguration problem within the same framework also for multi-agent systems. Many existing works [10], [15], [32] consider the probl... |

11 |
Multi-robot deployment from ltl specifications with reduced communication.
- Kloetzer, Ding, et al.
- 2011
(Show Context)
Citation Context ...model-checking algorithms given the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], =-=[20]-=-, [24]. As stressed in [16], [17], [31], the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dynamics... |

10 | Approximate solutions for the minimal revision problem of specification automata,”
- Kim, Fainekos
- 2012
(Show Context)
Citation Context ...he finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in [16], =-=[17]-=-, [31], the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dynamics. It is desired that users could ... |

9 |
Vehicle Routing with Linear Temporal Logic Specifications
- Karaman, Frazzoli
- 2008
(Show Context)
Citation Context ...es of real-time revising [13] and local “patching” [26]. More importantly, we investigate the reconfiguration problem within the same framework also for multi-agent systems. Many existing works [10], =-=[15]-=-, [32] consider the problem of decomposing a global specification to bisimilar local ones in a top-down manner. We, from an opposite viewpoint, assume that the local task specifications are assigned i... |

4 | Coordination of multiple non-holonomic agents with input constraints
- Oikonomopoulos, Loizou, et al.
- 2009
(Show Context)
Citation Context ...ically partitioned into N regions, denoted by the set Π = {pi0, pi1, . . . , piN}. These regions can be in different shapes, such as points of interests [21], triangles [6], polygons [1] and hexagons =-=[29]-=-. There are different cell decomposition schemes available, depending on the robot dynamics and associated control approaches, see [1], [2], [10] and [13]. Formally the control-driven finite transitio... |

4 | Optimal multi-robot path planning with LTL constraints: Guaranteeing correctness through synchronization.
- Ulusoy, Smith, et al.
- 2012
(Show Context)
Citation Context ...real-time revising [13] and local “patching” [26]. More importantly, we investigate the reconfiguration problem within the same framework also for multi-agent systems. Many existing works [10], [15], =-=[32]-=- consider the problem of decomposing a global specification to bisimilar local ones in a top-down manner. We, from an opposite viewpoint, assume that the local task specifications are assigned indepen... |

3 | reactive robot control from abstraction and temporal logic specifications - Correct - 2011 |

3 |
LTL2BA software: fast translation from LTL formulae to Büchi automaton. http:// www.lsv.ens-cachan.fr/˜gastin/ltl2ba/index.php
- Oddoux, Gastin
(Show Context)
Citation Context ...n r infinitely often. Denote by Lω(Aϕ) the accepted language of Aϕ, which is the set of infinite words that have an accepting run in Aϕ, i.e., Words(ϕ) = Lw(Aϕ). There are fast translation algorithms =-=[28]-=- from an LTL formula to NBA. This process can be done in time and space 2O(|ϕ|) [3]. B. Discretized Abstraction A labeled finite transition system [3] is used to describe the behavior of a robot withi... |

2 |
On the revision problem of specification automaton
- Kim, Fainekos, et al.
- 2012
(Show Context)
Citation Context ...iven the finite transition system and the task specification [2], [3], [11], [18]. This plan is then implemented through the corresponding low-level hybrid controller [10], [20], [24]. As stressed in =-=[16]-=-, [17], [31], the above motion planning framework reports a failure when the given task specification is not realizable in the current workspace and under the agent dynamics. It is desired that users ... |