Optimal path planning for surveillance with temporal logic constraints

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Optimal path planning for surveillance with temporal logic constraints

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Optimal path planning for surveillance with temporal logic constraints

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

The International Journal of Robotics Research

ISSN

0278-3649

e-ISSN

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Svazek periodika

vol. 30

Číslo periodika v rámci svazku

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Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

14

Strana od-do

1695-1708

Kód UT WoS článku

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EID výsledku v databázi Scopus

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