Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version

2005

Comments

Suggested Citation:
Fainekos, G., H. Kress-Gazit and G. Pappas. (2005). "Hybrid Controllers for Path Planning: A Temporal Logic Approach." Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference 2005. Seville, Spain. December 12-15, 2005.

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Abstract

Robot motion planning algorithms have focused on low-level reachability goals taking into account robot kinematics, or on high level task planning while ignoring low-level dynamics. In this paper, we present an integrated approach to the design of closed–loop hybrid controllers that guarantee by construction that the resulting continuous robot trajectories satisfy sophisticated specifications expressed in the so–called Linear Temporal Logic. In addition, our framework ensures that the temporal logic specification is satisfied even in the presence of an adversary that may instantaneously reposition the robot within the environment a finite number of times. This is achieved by obtaining a Büchi automaton realization of the temporal logic specification, which supervises a finite family of continuous feedback controllers, ensuring consistency between the discrete plan and the continuous execution.

 

Date Posted: 12 October 2010

This document has been peer reviewed.