This time the robot settles for a cost: A quantitative approach to temporal logic planning with partial satisfaction

Morteza Lahijanian, Shaull Almagor, Dror Fried, Lydia E. Kavraki, Moshe Y. Vardi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The specification of complex motion goals through temporal logics is increasingly favored in robotics to narrow the gap between task and motion planning. A major limiting factor of such logics, however, is their Boolean satisfaction condition. To relax this limitation, we introduce a method for quantifying the satisfaction of co-safe linear temporal logic specifications, and propose a planner that uses this method to synthesize robot trajectories with the optimal satisfaction value. The method assigns costs to violations of specifications from userdefined proposition costs. These violation costs define a distance to satisfaction and can be computed algorithmically using a weighted automaton. The planner utilizes this automaton and an abstraction of the robotic system to construct a product graph that captures all possible robot trajectories and their distances to satisfaction. Then, a plan with the minimum distance to satisfaction is generated by employing this graph as the high-level planner in a synergistic planning framework. The efficacy of the method is illustrated on a robot with unsatisfiable specifications in an office environment.

Original languageEnglish
Title of host publicationProceedings of the 29th AAAI Conference on Artificial Intelligence, AAAI 2015 and the 27th Innovative Applications of Artificial Intelligence Conference, IAAI 2015
Pages3664-3671
Number of pages8
ISBN (Electronic)9781577357032
StatePublished - 1 Jun 2015
Externally publishedYes
Event29th AAAI Conference on Artificial Intelligence, AAAI 2015 and the 27th Innovative Applications of Artificial Intelligence Conference, IAAI 2015 - Austin, United States
Duration: 25 Jan 201530 Jan 2015

Publication series

NameProceedings of the National Conference on Artificial Intelligence
Volume5

Conference

Conference29th AAAI Conference on Artificial Intelligence, AAAI 2015 and the 27th Innovative Applications of Artificial Intelligence Conference, IAAI 2015
Country/TerritoryUnited States
CityAustin
Period25/01/1530/01/15

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence

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