Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

Yuchen Zhou; Dipankar Maity; John S. Baras

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arXiv · 1603.08246

Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic

Yuchen Zhou·Dipankar Maity·John S. Baras

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Abstract

In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.

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BibTeX RIS

Yuchen Zhou, Dipankar Maity, John S. Baras. 2016-03-27. Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic. https://arxiv.org/abs/1603.08246

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