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Visibility-based Planners for Mobile Robots Capable to Handle Path Existence Queries in Temporal LogicPOMARLAN, M.   |
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Author keywords
collision avoidance, computational efficiency, mobile robots, motion planning, reachability analysis, robot motion
References keywords
planning(14), motion(11), robotics(9), iros(9), robot(7), temporal(6), logic(6), icra(6), automation(6), systems(5)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2014-02-28
Volume 14, Issue 1, Year 2014, On page(s): 55 - 64
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2014.01009
Web of Science Accession Number: 000332062300009
SCOPUS ID: 84894612767
Abstract
Over the past few years, sampling based planner algorithms have been applied to planning queries formulated in path existence temporal logic, a formal system that allows more complex specifications on a solution path and is useful for task planning for mobile robots or synthesizing controllers for dynamical systems. In this paper, we extend the visibility heuristic to planners capable to handle finite path existence temporal logic queries. Our interest is justified by the visibility heuristic's ability to construct small roadmaps that are fast to search. We find that the visibility heuristic must be amended so that it can reliably handle temporal logic queries and we propose a suitable modification of the heuristic. We then present a method to extract a solution path from a roadmap, if such a solution exists. Finally, we show how the planner can be used to generate looping paths by augmenting it with a gap reduction step. |
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
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Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
