Footstep Planning with Encoded Linear Temporal Logic Specifications
Robotics
2020-09-01 v1
Abstract
This article presents an approach to encode Linear Temporal Logic (LTL) Specifications into a Mixed Integer Quadratically Constrained Quadratic Program (MIQCQP) footstep planner. We propose that the integration of LTL specifications into the planner not only facilitates safe and desirable locomotion between obstacle-free regions, but also provides a rich language for high-level reasoning in contact planning. Simulations of the footstep planner in a 2D environment satisfying encoded LTL specifications demonstrate the results of this research.
Keywords
Cite
@article{arxiv.2008.13661,
title = {Footstep Planning with Encoded Linear Temporal Logic Specifications},
author = {Vikram Ramanathan},
journal= {arXiv preprint arXiv:2008.13661},
year = {2020}
}
Comments
7 pages, 5 figures