Optimal path planning for surveillance with temporal-logic constraints
In this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over pr...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publications
2021
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| Online Access: | https://hdl.handle.net/1721.1/134286 |
| _version_ | 1826188103742652416 |
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| author | Smith, Stephen L Tůmová, Jana Belta, Calin Rus, Daniela |
| author_facet | Smith, Stephen L Tůmová, Jana Belta, Calin Rus, Daniela |
| author_sort | Smith, Stephen L |
| collection | MIT |
| description | In this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal-logic specification. We then present a graph algorithm that computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road-network platform. © SAGE Publications 2011. |
| first_indexed | 2024-09-23T07:54:38Z |
| format | Article |
| id | mit-1721.1/134286 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T07:54:38Z |
| publishDate | 2021 |
| publisher | SAGE Publications |
| record_format | dspace |
| spelling | mit-1721.1/1342862022-04-01T16:26:05Z Optimal path planning for surveillance with temporal-logic constraints Smith, Stephen L Tůmová, Jana Belta, Calin Rus, Daniela In this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. Our method utilizes Büchi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal-logic specification. We then present a graph algorithm that computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road-network platform. © SAGE Publications 2011. 2021-10-27T20:04:19Z 2021-10-27T20:04:19Z 2011 2019-07-16T16:43:37Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/134286 Smith, S. L., et al. "Optimal Path Planning for Surveillance with Temporal-Logic Constraints." International Journal of Robotics Research 30 14 (2011): 1695-708. en 10.1177/0278364911417911 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf SAGE Publications Other repository |
| spellingShingle | Smith, Stephen L Tůmová, Jana Belta, Calin Rus, Daniela Optimal path planning for surveillance with temporal-logic constraints |
| title | Optimal path planning for surveillance with temporal-logic constraints |
| title_full | Optimal path planning for surveillance with temporal-logic constraints |
| title_fullStr | Optimal path planning for surveillance with temporal-logic constraints |
| title_full_unstemmed | Optimal path planning for surveillance with temporal-logic constraints |
| title_short | Optimal path planning for surveillance with temporal-logic constraints |
| title_sort | optimal path planning for surveillance with temporal logic constraints |
| url | https://hdl.handle.net/1721.1/134286 |
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