Task and Motion Planning for Manipulator Arms With Metric Temporal Logic Specifications

Abstract

The aim is to synthesize control inputs for robotic manipulator arms that ensure a desired task specification is executed while optimizing a desired performance objective. We use metric temporal logic (MTL) to express the task specifications defined in terms of manipulating objects and implemented a hierarchical method combining mixed integer-linear… (More)
DOI: 10.1109/LRA.2017.2755078

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Cite this paper

@article{Saha2018TaskAM, title={Task and Motion Planning for Manipulator Arms With Metric Temporal Logic Specifications}, author={Sayan Saha and Anak Agung Julius}, journal={IEEE Robotics and Automation Letters}, year={2018}, volume={3}, pages={379-386} }