About: Optimal Path Planning under Temporal Logic Contstraints     Goto   Sponge   NotDistinct   Permalink

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Description
  • We present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by a linear temporal logic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot trajectory which minimizes the cost function. The problem is motivated by robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at locations where data can be uploaded, and the formula specifies a an infinite horizon data collection mission.
  • We present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by a linear temporal logic formula. In addition, we require that an optimizing proposition must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot trajectory which minimizes the cost function. The problem is motivated by robotic monitoring and data gathering. In this setting, the optimizing proposition is satisfied at locations where data can be uploaded, and the formula specifies a an infinite horizon data collection mission. (en)
Title
  • Optimal Path Planning under Temporal Logic Contstraints
  • Optimal Path Planning under Temporal Logic Contstraints (en)
skos:prefLabel
  • Optimal Path Planning under Temporal Logic Contstraints
  • Optimal Path Planning under Temporal Logic Contstraints (en)
skos:notation
  • RIV/00216224:14330/10:00045255!RIV11-GA0-14330___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GA201/09/1389), S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 277219
http://linked.open...ai/riv/idVysledku
  • RIV/00216224:14330/10:00045255
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Motion Control; Navigation (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [C4B2661A8C6B]
http://linked.open...v/mistoKonaniAkce
  • Taipei, Taiwan
http://linked.open...i/riv/mistoVydani
  • Neuveden
http://linked.open...i/riv/nazevZdroje
  • Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Belta, Calin
  • Rus, Daniela
  • Smith, Stephen L.
  • Tůmová, Jana
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
issn
  • 2153-0866
number of pages
http://purl.org/ne...btex#hasPublisher
  • IEEE
https://schema.org/isbn
  • 978-1-4244-6675-7
http://localhost/t...ganizacniJednotka
  • 14330
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