Title :
A graphical language for LTL motion and mission planning
Author :
Srinivas, S. ; Kermani, Ramtin ; Kangjin Kim ; Kobayashi, Yoshiyuki ; Fainekos, Georgios
Author_Institution :
Sch. of Comput., Inf. & Decision Syst. Eng., Arizona State Univ., Tempe, AZ, USA
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.
Keywords :
control engineering computing; graphical user interfaces; mobile robots; multi-robot systems; path planning; temporal logic; touch sensitive screens; visual languages; LTL control synthesis algorithms; LTL motion planning; graphical interface; graphical language; mission planning linear temporal logic; multiple robots; nonexpert robot user; robotic applications; touchscreen technologies; Androids; Humanoid robots; Planning; Semantics; User interfaces; Visualization;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739543