In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a member of the temporal logic family, to represent the task specification and then we provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find a feasible motion (or path) sequence for the robot to complete the task.
@article{arxiv.1603.08246,
title = {Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic},
author = {Yuchen Zhou and Dipankar Maity and John S. Baras},
journal= {arXiv preprint arXiv:1603.08246},
year = {2016}
}