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Physics-based Motion Planning with Temporal Logic Specifications

Author
Ud Din, M.; Akbari, A.; Rosell, J.
Type of activity
Journal article
Journal
IFAC-PapersOnLine
Date of publication
2017-07-01
Volume
50
Number
1 July 2017
First page
8993
Last page
8999
DOI
https://doi.org/10.1016/j.ifacol.2017.08.1578 Open in new window
Project funding
Autonomous dexterous robots as coworkers with human operators
Dexterous, mobile and cooperative grasping and manipulation
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration
Repository
http://hdl.handle.net/2117/110991 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S2405896317321730?via%3Dihub Open in new window
Abstract
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions to guide sampling-based motion planning, with the aim of finding dynamically-feasible motions that satisfy the temp...
Citation
Ud Din, M., Akbari, A., Rosell, J. Physics-based Motion Planning with Temporal Logic Specifications. A: "IFAC-PapersOnLine". 2017, p. 8993-8999.
Keywords
Physics-based motion planning, knowledge-based reasoning, sampling-based LTL planning
Group of research
SIR - Service and Industrial Robotics

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