Probabilistic Temporal Logic for Motion Planning with Resource Threshold Constraints

@inproceedings{Yoo2012ProbabilisticTL,
  title={Probabilistic Temporal Logic for Motion Planning with Resource Threshold Constraints},
  author={Chanyeol Yoo and Robert C. Fitch and Salah Sukkarieh},
  booktitle={Robotics: Science and Systems},
  year={2012}
}
Temporal logic and model-checking are useful theoretical tools for specifying complex goals at the task level and formally verifying the performance of control policies. We are interested in tasks that involve constraints on real-valued energy resources. In particular, autonomous gliding aircraft gain energy in the form of altitude by exploiting wind currents and must maintain altitude within some range during motion planning. We propose an extension to probabilistic computation tree logic that… Expand
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