Iterator-Based Temporal Logic Task Planning

• DOI: 10.48550/arxiv.2001.07678
• Publication Date: 2020-01-01
• Authors: Sebastián Zudaire; Martín Garrett; Sebastián Uchitel
• Keywords: Work space; Constant (computer programming); Control logic

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited tasks with universally quantified locations, that has constant time respect to the number enabling synthesis plans an arbitrary them. propose hybrid control framework uses iterator manage discretised workspace hiding it plan enacted by event controller. A downside our approach is incurs in increased overhead executing synthesised plan. demonstrate reasonable missions fixed-wing Unmanned Aerial Vehicle simulated and real scenarios up 700000