Where's Waldo? Sensor-Based Temporal Logic Motion Planning

@article{KressGazit2007WheresWS,
  title={Where's Waldo? Sensor-Based Temporal Logic Motion Planning},
  author={Hadas Kress-Gazit and Georgios E. Fainekos and George J. Pappas},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={3116-3121}
}
Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task specifications expressed in suitable temporal logics. The desired task specifications can express complex robot behaviors such as search and rescue, coverage, and collision avoidance. In addition, our framework explicitly captures sensor specifications that depend on the environment with which the robot is interacting… CONTINUE READING
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