Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation.
Rin TakanoHiroyuki OyamaMasaki YamakitaPublished in: ICRA (2021)
Keyphrases
- temporal logic
- motion planning
- continuous optimization
- manipulation tasks
- concurrent systems
- transition systems
- model checking
- reactive systems
- bounded model checking
- model checker
- degrees of freedom
- formal specification language
- path planning
- optimization methods
- mobile robot
- trajectory planning
- simulated annealing
- metaheuristic
- humanoid robot
- robotic arm
- formal specification
- formal verification
- linear temporal logic
- belief space
- optimization strategy
- verification method
- multi robot
- linear models
- climbing robot
- feature extraction
- belief revision
- formal methods
- least squares
- computation tree logic
- control flow
- high dimensional