Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Developing a System for Robust Planning using Linear Temporal Logic
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Human robot-collaborative search missions have gotten more and more attention in recent years.Especially in scenarios where the robot first scouts the scene before sending in human agents. Thissaves time and avoids unnecessary risks for the human agents. One possible configuration of such arescue team is, a human operator instructing a unmanned aerial vehicle (UAV) via speech-commandshow to traverse through an environment to investigate areas of interest. A first step to address thisproblem is presented in this master thesis by developing a framework for mapping temporal logicinstructions to physical motion of a UAV.The fact that natural language has a strong resemblance to the logic formalism of Linear-TemporalLogic (LTL) is exploited. Constraints expressed as an LTL-formula are imposed on a provided labeledmap of the environment. An LTL-to-cost-map converter including a standard input-skeleton is developed.Respective cost maps are obtained and a satisfaction-measure of fulfilling these constraints ispresented. The input-skeleton and the map-converter are then combined with a cost-map-based pathplanning algorithm in order to obtain solution sets. A clarification request is created such that theoperator can choose which solution set should be executed. The proposed framework is successivelyvalidated, first by MATLAB-experiments to ensure the validity of the cost-map-creation followed bysimulation experiments in ROS incorporating the entire framework. Finally, a real-world experimentis performed at the SML to validate the proposed framework.

Abstract [sv]

Human-robot-collaborative search missions har f°att ¨okad uppm¨arksamhet de senaste°aren. Framf¨orallt i scenarion d¨ar roboten f¨orst utforskar milj¨on innan m¨anskliga agenter intr¨ader, vilket spararb°ade tid och undviker on¨odiga risker f¨or de m¨anskliga agenterna. En m¨ojlig konfiguration f¨or ettr¨addningsteam ¨ar d°a en m¨ansklig operator instruerar en UAV via tal-teknologi hur den ska navigeragenom en milj¨o f¨or att unders¨oka omr°aden av intresse. Den h¨ar uppsatsen ¨amnar att unders¨okadetta problem genom att utveckla ett ramverk f¨or kopplingen mellan temporal-logiska instruktionentill fysiska r¨orelsem¨onster f¨or en UAV. Faktumet att naturligt spr°ak har en stark samh¨orighetmellan logisk formalist av Linj¨ar Temporal Logik (LTL) ¨ar exploaterat. Constraints uttryckta somen LTL-formula tillf¨ors p°a en tillhandah°allen klassificerad karta av omgivningen. I denna rapportpresenteras en LTL-cost-to-map-¨overs¨attning som inkluderar ett standardiserat input-skelett. Vidarepresenteras kostnadskartor med tillfredst¨allelse-m°att som uppfyller dessa krav. Input-skelettet ochmap-konverteraren kombineras sedan med en cost-map-baserad path planning algoritm f¨or att erh°allal¨osningsset. En klarifikationsf¨orfr°agan ¨ar skapad s°a att operatorn kan v¨alja vilket l¨osningsset som skaexekveras. Det f¨oreslagna ramverket ¨ar successivt validerat, inledningsvis med MATLAB-experimentf¨or valideringen av cost-map-kreationen f¨oljt av simuleringsexperiment i ROS som inkorporerar helaramverket. Slutligen utf¨ors ett real-time experiment vid SML f¨or att validera det f¨oreslagna ramverket.

Place, publisher, year, edition, pages
2018. , p. 40
Series
TRITA-EECS-EX ; 2018:99
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-231846OAI: oai:DiVA.org:kth-231846DiVA, id: diva2:1230349
Educational program
Master of Science - Systems, Control and Robotics
Supervisors
Examiners
Available from: 2018-07-03 Created: 2018-07-03 Last updated: 2018-07-03Bibliographically approved

Open Access in DiVA

fulltext(2651 kB)5 downloads
File information
File name FULLTEXT01.pdfFile size 2651 kBChecksum SHA-512
e723767d60179864a90a8b28ff5842aa5b98fc9b944129493d50bc6ff2b019131f506e1730801b4c1387009e2f70f8c5c6c283a9af59127c7e608cd44f1dff38
Type fulltextMimetype application/pdf

By organisation
Automatic Control
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 5 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 16 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf