Optimal path planning for surveillance with temporal logic constraints
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F11%3A00050152" target="_blank" >RIV/00216224:14330/11:00050152 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1177/0278364911417911" target="_blank" >http://dx.doi.org/10.1177/0278364911417911</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1177/0278364911417911" target="_blank" >10.1177/0278364911417911</a>
Alternative languages
Result language
angličtina
Original language name
Optimal path planning for surveillance with temporal logic constraints
Original language description
In this paper we present a method for automatically generating optimal robot paths 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 an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which 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 path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
The International Journal of Robotics Research
ISSN
0278-3649
e-ISSN
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Volume of the periodical
vol. 30
Issue of the periodical within the volume
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Country of publishing house
CZ - CZECH REPUBLIC
Number of pages
14
Pages from-to
1695-1708
UT code for WoS article
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EID of the result in the Scopus database
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