论文标题
基于迭代器的时间逻辑任务计划
Iterator-Based Temporal Logic Task Planning
论文作者
论文摘要
当规格涉及大量离散位置时，机器人系统的时间逻辑任务计划会遭受状态爆炸。我们提供了一种新颖的方法，特别适合具有普遍量化的位置的任务规格，该方法在位置的数量方面持续不断，从而可以综合计划任意数量的计划。我们提出了一个混合控制框架，该框架使用迭代器来管理离散事件控制器制定的计划的离散工作空间。我们方法的一个缺点是，执行合成计划时，它会增加开销。我们证明，在模拟和实际场景中，最多700000个位置的固定翼无人驾驶飞机的任务是合理的。
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 for tasks specifications with universally quantified locations, that has constant time with respect to the number of locations, enabling synthesis of plans for an arbitrary number of them. We propose a hybrid control framework that uses an iterator to manage the discretised workspace hiding it from a plan enacted by a discrete event controller. A downside of our approach is that it incurs in increased overhead when executing a synthesised plan. We demonstrate that the overhead is reasonable for missions of a fixed-wing Unmanned Aerial Vehicle in simulated and real scenarios for up to 700000 locations.
