Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees.
Morteza LahijanianJoseph WasniewskiSean B. AnderssonCalin BeltaPublished in: ICRA (2010)
Keyphrases
- temporal logic
- motion planning
- robotic arm
- concurrent systems
- mechanical systems
- model checking
- transition systems
- model checker
- bounded model checking
- reactive systems
- formal specification language
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- modal logic
- robot arm
- satisfiability problem
- kinematic model
- humanoid robot
- formal specification
- linear temporal logic
- mazurkiewicz traces
- control system
- robotic tasks
- verification method
- belief space
- dynamic constraints
- obstacle avoidance
- computation tree logic
- collision free
- control strategy
- belief revision
- configuration space
- formal verification
- climbing robot
- robotic systems
- spatio temporal