Reactive motion planning for temporal logic tasks without workspace discretization
Reactive motion planning for temporal logic tasks without workspace discretization
复制标题
无需工作空间离散化的时序逻辑任务的反应式运动规划
DOI：
10.23919/acc.2019.8814420
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
H. Tanner
中科院分区：
文献类型：
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作者：
A. Zehfroosh;H. Tanner
维数灾难是线性时序逻辑机器人运动规划的许多应用中的一个挑战，并且与机器人工作空间的离散化有关。离散化通过引入大量原子命题而加剧了问题。本文认为这些原子命题中有很大一部分是不必要的。它通过在时间逻辑规划框架内引入局部导航功能，并利用寄存器自动机进行反应运动规划而无需明确的高分辨率工作空间离散化来证明这一点。这种方法的动机来自于儿科运动康复中的应用，涉及基于游戏的社交儿童机器人交互，其中响应儿童动作的适当机器人行为最好用时间逻辑术语来描述。从上述儿科康复研究中提取的模拟示例说明了该方法的优点。
The curse of dimensionality is a challenge in many applications of Linear Temporal Logic robot motion planning, and is linked to the discretization of the robot's workspace. The discretization aggravates the problem by introducing a multitude of atomic propositions. This paper argues that a large portion of these atomic propositions is unnecessary. It demonstrates this point by introducing local navigation functions within a temporal logic planning framework, and utilizing register automata for reactive motion planning without explicit, high-resolution workspace discretization. Motivation for this approach comes from applications in pediatric motor rehabilitation involving play-based social child-robot interactions, where the appropriate robot behavior in response to child actions is best described in temporal logic terms. A simulation example drawn from the aforementioned pediatric rehabilitation studies illustrates the advantages of the approach.