Optimal Path Planning under Temporal Logic Contstraints
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F10%3A00045255" target="_blank" >RIV/00216224:14330/10:00045255 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Optimal Path Planning under Temporal Logic Contstraints
Original language description
We present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by a linear temporallogic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot trajectory which minimizes the cost function. The problem is motivated by robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at locations where data can be uploaded, and the formula specifies a an infinite horizon data collection mission.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA201%2F09%2F1389" target="_blank" >GA201/09/1389: Verification and Analysis of Large-Scale Computer Systems</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
ISBN
978-1-4244-6675-7
ISSN
2153-0866
e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
Neuveden
Event location
Taipei, Taiwan
Event date
Jan 1, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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