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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2411.06219 |
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| _version_ | 1866909382904643584 |
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| author | Gautam, Saksham Das, Ratnangshu Jagtap, Pushpak |
| author_facet | Gautam, Saksham Das, Ratnangshu Jagtap, Pushpak |
| contents | In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's motion constraints, ensuring that the resulting trajectories are both optimal and executable. We introduce a cost function that recursively computes the robustness of temporal logic specifications while penalizing time and control effort, striking a balance between path feasibility and logical correctness. We validate our approach with simulations and real-world experiments in complex environments, demonstrating its effectiveness in producing robust and practical motion plans. This work represents a significant step towards expanding the applicability of motion planning algorithms to more complex, real-world scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_06219 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints Gautam, Saksham Das, Ratnangshu Jagtap, Pushpak Systems and Control Robotics In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's motion constraints, ensuring that the resulting trajectories are both optimal and executable. We introduce a cost function that recursively computes the robustness of temporal logic specifications while penalizing time and control effort, striking a balance between path feasibility and logical correctness. We validate our approach with simulations and real-world experiments in complex environments, demonstrating its effectiveness in producing robust and practical motion plans. This work represents a significant step towards expanding the applicability of motion planning algorithms to more complex, real-world scenarios. |
| title | RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2411.06219 |