A graphical language for LTL motion and mission planning

Shashank Srinivas; Ramtin Kermani; Kangjin Kim; Yoshihiro Kobayashi; Georgios Fainekos

doi:10.1109/ROBIO.2013.6739543

A graphical language for LTL motion and mission planning

Shashank Srinivas, Ramtin Kermani, Kangjin Kim, Yoshihiro Kobayashi, Georgios Fainekos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

Abstract

Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a logician, provide mission and motion plans for multiple robots in LTL? In this paper, we propose a graphical specification environment for LTL specifications that utilizes touchscreen technologies. We demonstrate that the graphical interface can express all the properties of interest that have appeared in the literature.

Original language	English (US)
Title of host publication	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Publisher	IEEE Computer Society
Pages	704-709
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739543
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: Dec 12 2013 → Dec 14 2013

Other

Other	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 12/14/13

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Biotechnology

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10.1109/ROBIO.2013.6739543

Cite this

Srinivas, S, Kermani, R, Kim, K, Kobayashi, Y & Fainekos, G 2013, A graphical language for LTL motion and mission planning. in 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013., 6739543, IEEE Computer Society, pp. 704-709, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, 12/12/13. https://doi.org/10.1109/ROBIO.2013.6739543

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abstract = "Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a logician, provide mission and motion plans for multiple robots in LTL? In this paper, we propose a graphical specification environment for LTL specifications that utilizes touchscreen technologies. We demonstrate that the graphical interface can express all the properties of interest that have appeared in the literature.",

author = "Shashank Srinivas and Ramtin Kermani and Kangjin Kim and Yoshihiro Kobayashi and Georgios Fainekos",

year = "2013",

doi = "10.1109/ROBIO.2013.6739543",

language = "English (US)",

pages = "704--709",

booktitle = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013",

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AU - Kermani, Ramtin

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AU - Fainekos, Georgios

PY - 2013

Y1 - 2013

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AB - Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a logician, provide mission and motion plans for multiple robots in LTL? In this paper, we propose a graphical specification environment for LTL specifications that utilizes touchscreen technologies. We demonstrate that the graphical interface can express all the properties of interest that have appeared in the literature.

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M3 - Conference contribution

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BT - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

PB - IEEE Computer Society

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

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A graphical language for LTL motion and mission planning

Abstract

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