About: Optimal path planning for surveillance with temporal logic constraints

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper we present a method for automatically generating optimal robot paths 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 an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which 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 path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. In this paper we present a method for automatically generating optimal robot paths 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 an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which 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 path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. (en)
Title	Optimal path planning for surveillance with temporal logic constraints Optimal path planning for surveillance with temporal logic constraints (en)
skos:prefLabel	Optimal path planning for surveillance with temporal logic constraints Optimal path planning for surveillance with temporal logic constraints (en)
skos:notation	RIV/00216224:14330/11:00050152!RIV12-GA0-14330___
http://linked.open...avai/predkladatel	Fakulta informatiky
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(GD102/09/H042), P(LH11065), S
http://linked.open...iv/cisloPeriodika	no. 14
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Tůmová, Jana
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Masarykova univerzita / Fakulta informatiky
http://linked.open...dnocenehoVysledku	218592
http://linked.open...ai/riv/idVysledku	RIV/00216224:14330/11:00050152
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	motion planning; optimal path planning; temporal logic (en)
http://linked.open.../riv/klicoveSlovo	temporal logic optimal path planning motion planning
http://linked.open...odStatuVydavatele	CZ - Česká republika
http://linked.open...ontrolniKodProRIV	[A85A88CFAA43]
http://linked.open...i/riv/nazevZdroje	The International Journal of Robotics Research
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Control Synthesis and Formal Verification of Complex Hybrid Systems Mathematical and Engineering Approaches to Developing Reliable and Secure Concurrent and Distributed Computer Systems
http://linked.open...UplatneniVysledku	2011
http://linked.open...v/svazekPeriodika	vol. 30
http://linked.open...iv/tvurceVysledku	Belta, Calin Rus, Daniela Smith, Stephen L. Tůmová, Jana
issn	0278-3649
number of pages	14 (xsd:int)
http://bibframe.org/vocab/doi	10.1177/0278364911417911
http://localhost/t...ganizacniJednotka	14330
is http://linked.open...avai/riv/vysledek of	Optimal path planning for surveillance with temporal logic constraints Optimal path planning for surveillance with temporal logic constraints

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