An interactive system for multiple-task linear temporal logic path planning
Refereed conference paper presented and published in conference proceedings

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AbstractBeyond programming robots to accomplish a single high-level task at a time, people also hope robots follow instructions and complete a series of tasks while meeting their requirements. This paper presents an interactive software system that consists of a multiple-task linear temporal logic (LTL) path planner and a human-machine interface (HMI). The HMI transforms human oral instructions into task commands that can be understood by the machine. The planner grows a rapid random exploring tree to search for solutions for multiple tasks. When switching tasks, the search tree is reinitialized and reconnected to utilize the information gathered during the exploration of the workspace. The feasibility of the improved planner is theoretically guaranteed, and profiling in simulation shows an acceleration in planning. An experiment with a quadcopter is conducted to show that the combination of the multiple-task LTL planner and the HMI results in a synergistic effect in real-world applications.
All Author(s) ListYizhou Chen, Xinyi Wang, Zixuan Guo, Ruoyu Wang, Xunkuai Zhou, Guidong Yang, Shupeng Lai, Ben M. Chen
Name of Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start Date of Conference01/10/2023
End Date of Conference05/10/2023
Place of ConferenceDetroit
Country/Region of ConferenceUnited States of America
Proceedings Title2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year2023
Month10
PublisherIEEE
Place of PublicationNew York
Pages8636 - 8642
LanguagesEnglish-United States
KeywordsPath planning, linear temporal logic, robotics systems

Last updated on 2024-29-01 at 11:50