Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control.
Zhaoyuan GuYuntian ZhaoYipu ChenRongming GuoJennifer K. LeestmaGregory S. SawickiYe ZhaoPublished in: CoRR (2024)
Keyphrases
- temporal logic
- modal logic
- linear temporal logic
- model checking
- model predictive control
- predicate logic
- verification method
- transition systems
- model checker
- satisfiability problem
- degrees of freedom
- modal operators
- concurrent systems
- bounded model checking
- belief revision
- automata theoretic
- mobile robot
- epistemic logic
- computation tree logic
- control system
- linear time temporal logic
- mazurkiewicz traces
- predictive control
- formal specification
- inference rules
- reactive systems
- logical framework
- autonomous robots
- robotic systems
- fuzzy sets