Optimization-based trajectory generation with linear temporal logic specifications

We present a mathematical programming-based method for optimal control of discrete-time dynamical systems subject to temporal logic task specifications. We use linear temporal logic (LTL) to specify a wide range of properties and tasks, such as safety, progress, response, surveillance, repeated asse...

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Bibliographic Details
Main Authors: Wolff, Eric M., Topcu, Ufuk, Murray, Richard M.
Format: Conference Proceeding
Language:English
Subjects:
Cost function
Encoding
Indexes
Planning
Robots
Trajectory
Vehicle dynamics
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Summary:We present a mathematical programming-based method for optimal control of discrete-time dynamical systems subject to temporal logic task specifications. We use linear temporal logic (LTL) to specify a wide range of properties and tasks, such as safety, progress, response, surveillance, repeated assembly, and environmental monitoring. Our method directly encodes an LTL formula as mixed-integer linear constraints on the continuous system variables, avoiding the computationally expensive processes of creating a finite abstraction of the system and a Büchi automaton for the specification. In numerical experiments, we solve temporal logic motion planning tasks for high-dimensional (10+ continuous state) dynamical systems.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2014.6907641