Chance-constrained multi-layered sampling-based path planning for temporal logic-based missions
DC Field | Value | Language |
---|---|---|
dc.contributor.author | oh, yoonseon | - |
dc.contributor.author | Cho, Kyunghoon | - |
dc.contributor.author | Choi, Yunho | - |
dc.contributor.author | Oh, Songhwai | - |
dc.date.accessioned | 2023-09-18T06:37:42Z | - |
dc.date.available | 2023-09-18T06:37:42Z | - |
dc.date.created | 2023-07-19 | - |
dc.date.issued | 2020-12 | - |
dc.identifier.issn | 0018-9286 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/190686 | - |
dc.description.abstract | This article introduces a robust and safe path planning algorithm in order to satisfy mission requirements specified in linear temporal logic (LTL). When a path is planned to accomplish a mission, it is possible for a robot to fail to complete the mission or collide with obstacles due to noises and disturbances in the system. Hence, we need to find a robust path against possible disturbances. We introduce a robust path planning algorithm, which maximizes the probability of success in accomplishing a given mission by considering disturbances, while minimizing the moving distance of a robot. The proposed method can guarantee the safety of the planned trajectory by incorporating an LTL formula and chance constraints in a hierarchical manner. A high-level planner generates a discrete plan satisfying the mission requirements specified in LTL. A low-level planner builds a sampling-based rapidly exploring random tree search tree to minimize both the mission failure probability and the moving distance while guaranteeing the probability of collision with obstacles to be below a specified threshold. We have analyzed properties of the proposed algorithm theoretically and validated the robustness and safety of paths generated by the algorithm in simulation and experiments using a quadrotor. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Chance-constrained multi-layered sampling-based path planning for temporal logic-based missions | - |
dc.title.alternative | Chance-Constrained Multilayered Sampling-Based Path Planning for Temporal Logic-Based Missions | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | oh, yoonseon | - |
dc.identifier.doi | 10.1109/TAC.2020.3044273 | - |
dc.identifier.scopusid | 2-s2.0-85098790226 | - |
dc.identifier.wosid | 000725800500017 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON AUTOMATIC CONTROL, pp.5816 - 5829 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON AUTOMATIC CONTROL | - |
dc.citation.title | IEEE TRANSACTIONS ON AUTOMATIC CONTROL | - |
dc.citation.startPage | 5816 | - |
dc.citation.endPage | 5829 | - |
dc.type.rims | ART | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.subject.keywordPlus | ALGORITHM | - |
dc.subject.keywordAuthor | Linear temporal logic (LTL) | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Probabilistic guarantee | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9293004 | - |
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