Where's Waldo? Sensor-based temporal logic motion planning

Hadas Kress-Gazit, Georgios E. Fainekos, George J. Pappas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

176 Scopus citations


Given a robot model and a class of admissible environments, this paper provides a framework for automatically and veriflably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting, resulting in a novel paradigm for sensor-based temporal logic motion planning. As one robot is part of the environment of another robot, our sensor-based framework very naturally captures multi-robot specifications. Our computational approach is based on first creating discrete controllers satisfying so-called General Reactivity(1) formulas. If feasible, the discrete controller is then used in order to guide the sensor-based composition of continuous controllers resulting in a hybrid controller satisfying the high level specification, but only if the environment is admissible.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Number of pages6
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2007 IEEE International Conference on Robotics and Automation, ICRA'07


  • Controller synthesis
  • Hybrid control
  • Motion planning
  • Sensor-based planning
  • Temporal logics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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