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Robust Motion Planning employing Signal Temporal Logic
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 2950-2955, article id 7963399Conference paper, Published paper (Refereed)
Abstract [en]

Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To address this issue, temporal logics have recently been used to formulate such advanced specifications. This paper will consider Signal Temporal Logic in combination with Model Predictive Control. A robustness metric, called Discrete Average Space Robustness, is introduced and used to maximize the satisfaction of specifications which results in a natural robustness against noise. The comprised optimization problem is convex and formulated as a Linear Program.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 2950-2955, article id 7963399
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-211132DOI: 10.23919/ACC.2017.7963399Scopus ID: 2-s2.0-85027033259ISBN: 9781509059928 (print)OAI: oai:DiVA.org:kth-211132DiVA, id: diva2:1127720
Conference
2017 American Control Conference, ACC 2017, Sheraton Seattle Hotel, Seattle, United States, 24 May 2017 through 26 May 2017
Note

QC 20170811

Available from: 2017-07-18 Created: 2017-07-18 Last updated: 2017-08-23Bibliographically approved

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