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arXiv · 1208.5855

Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints

Maria Svorenova·Jana Tumova·Jiri Barnat·Ivana Cerna
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Abstract

Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a high-level temporal logic surveillance mission and to locally optimize the collection of the rewards in the visited regions. These two objectives often conflict and only a compromise between them can be reached. We address this issue by taking into consideration a user-defined preference function that captures the trade-off between the importance of collecting high rewards and the importance of making progress towards a surveyed region. Our solution leverages ideas from the automata-based approach to model checking. We demonstrate the utilization and benefits of the suggested framework in an illustrative example.

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Maria Svorenova, Jana Tumova, Jiri Barnat, Ivana Cerna. 2012-08-29. Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints. https://arxiv.org/abs/1208.5855

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