A Hierarchical Decoupling Approach for Fast Temporal Logic Motion Planning.
Ziyang ChenZhangli ZhouShaochen WangZhen KanPublished in: ICRA (2023)
Keyphrases
- temporal logic
- motion planning
- model checking
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- humanoid robot
- modal logic
- robot arm
- satisfiability problem
- linear temporal logic
- mazurkiewicz traces
- concurrent systems
- autonomous mobile robot
- multi robot
- computation tree logic
- robotic arm
- inverse kinematics
- climbing robot
- collision free
- verification method
- belief space
- robotic tasks
- temporal knowledge
- transition systems
- belief revision
- mechanical systems
- bounded model checking
- configuration space
- temporally extended
- automata theoretic
- knowledge base