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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2501.06719 |
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| _version_ | 1866913644577554432 |
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| author | Ge, Jingzhan Zhang, Zi-Hao Huang, Sheng-En |
| author_facet | Ge, Jingzhan Zhang, Zi-Hao Huang, Sheng-En |
| contents | This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and converts them into transition systems for high-level planning. Text instructions are translated into LTL formulas and converted to Deterministic Finite Automata (DFA) for sequential goal-reaching tasks while adhering to safety constraints. High-level plans, derived via Breadth-First Search (BFS), guide low-level planners like Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM) for obstacle-avoidant navigation along with LTL tasks. The approach demonstrates adaptability to various task complexities, though challenges such as graph construction overhead and suboptimal path generation remain. Future directions include extending to considering terrain conditions and incorporating higher-order dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_06719 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Hierarchical Sampling-based Planner with LTL Constraints and Text Prompting Ge, Jingzhan Zhang, Zi-Hao Huang, Sheng-En Robotics Systems and Control This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and converts them into transition systems for high-level planning. Text instructions are translated into LTL formulas and converted to Deterministic Finite Automata (DFA) for sequential goal-reaching tasks while adhering to safety constraints. High-level plans, derived via Breadth-First Search (BFS), guide low-level planners like Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM) for obstacle-avoidant navigation along with LTL tasks. The approach demonstrates adaptability to various task complexities, though challenges such as graph construction overhead and suboptimal path generation remain. Future directions include extending to considering terrain conditions and incorporating higher-order dynamics. |
| title | Hierarchical Sampling-based Planner with LTL Constraints and Text Prompting |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2501.06719 |