TY - GEN
T1 - Hybrid controllers for path planning
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
AU - Fainekos, Georgios E.
AU - Kress-Gazit, Hadas
AU - Pappas, George J.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33847223790&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2005.1582935
DO - 10.1109/CDC.2005.1582935
M3 - Conference contribution
AN - SCOPUS:33847223790
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 4885
EP - 4890
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -