Temporal Logic Motion Planning in Partially Unknown Environments

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dc.contributor.advisorKavraki, Lydia E.en_US
dc.contributor.committeeMemberVardi, Moshe Y.en_US
dc.contributor.committeeMemberMcLurkin, Jamesen_US
dc.creatorMaly, Matthewen_US
dc.date.accessioned2013-09-16T15:55:17Zen_US
dc.date.accessioned2013-09-16T15:55:20Zen_US
dc.date.available2013-09-16T15:55:17Zen_US
dc.date.available2013-09-16T15:55:20Zen_US
dc.date.created2013-05en_US
dc.date.issued2013-09-16en_US
dc.date.submittedMay 2013en_US
dc.date.updated2013-09-16T15:55:20Zen_US
dc.description.abstractThis thesis considers the problem of a robot with complex dynamics navigating a partially discovered environment to satisfy a temporal logic formula consisting of both a co-safety formula component and a safety formula component. We employ a multi-layered synergistic framework for planning motions to satisfy a temporal logic formula, and we combine with it an iterative replanning strategy to locally patch the robot's discretized internal representation of the workspace whenever a new obstacle is discovered. Furthermore, we introduce a notion of ``closeness'' of satisfaction of a linear temporal logic formula, defined by a metric over the states of the corresponding automaton. We employ this measure to maximize partial satisfaction of the co-safety component of the temporal logic formula when obstacles render it unsatisfiable. For the safety component of the specification, we do not allow partial satisfaction. This introduces a general division between ``soft'' and ``hard'' constraints in the temporal logic specification, a concept we illustrate in our discussion of future work. The novel contributions of this thesis include (1) the iterative replanning strategy, (2) the support for safety formulas in the temporal logic specification, (3) the method to locally patch the discretized workspace representation, and (4) support for partial satisfaction of unsatisfiable co-safety formulas. As our experimental results show, these methods allow us to quickly compute motion plans for robots with complex dynamics to satisfy rich temporal logic formulas in partially unknown environments.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationMaly, Matthew. "Temporal Logic Motion Planning in Partially Unknown Environments." (2013) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/71997">https://hdl.handle.net/1911/71997</a>.en_US
dc.identifier.slug123456789/ETD-2013-05-572en_US
dc.identifier.urihttps://hdl.handle.net/1911/71997en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectComputer scienceen_US
dc.subjectRoboticsen_US
dc.subjectMotion planningen_US
dc.subjectTemporal logicen_US
dc.subjectFormal methodsen_US
dc.titleTemporal Logic Motion Planning in Partially Unknown Environmentsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentComputer Scienceen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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