Veranstaltungen

22. April 2013, 16:00 bis 00:00

Optimal Robot Path Planning with LTL Specifications

Vortrag

We focus on automatic optimal control strategy synthesis specifically tailored for mobile robotic systems.

Jana Tumova (Masaryk University) Abstract
We focus on automatic optimal control strategy synthesis specifically tailored for mobile robotic systems. In particular, we consider high-level planning, when a robot's motion capabilities are modeled as a discrete transition system and its desired task is specified as a linear temporal logic formula. We address cases when multiple plans meet the specification and we introduce an algorithm to find an optimal plan with respect to a carefully chosen cost function. In contrast, we also aim at instances when there is no control strategy ensuring the satisfaction of the desired task as a whole. For such cases, we propose methods to find a least-violating plan. We address separately tasks in the form of long-term missions to be accomplished and safety rules to be obeyed.

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