Informative path planning under temporal logic constraints with performance guarantees

Kevin J. Leahy; Derya Aksaray; Calin Belta

doi:10.23919/ACC.2017.7963223

Informative path planning under temporal logic constraints with performance guarantees

Kevin J. Leahy, Derya Aksaray, Calin Belta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

In this work we consider an agent trying to maximize a submodular reward function while moving in a graph environment. Such reward functions can be used to capture a variety of crucial sensing objectives in robotics including, but not limited to, mutual information and entropy. Furthermore, the agent must satisfy a mission specified by temporal logic constraints, which can encode many rich and complex missions such as 'visit regions A or B, then visit C, infinitely often. Never visit D before visiting C.' We present an algorithm to maximize a submodular reward function under these constraints and provide an approximation for the performance of the proposed algorithm. The results are validated via simulation.

Original language	English (US)
Title of host publication	2017 American Control Conference, ACC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1859-1865
Number of pages	7
ISBN (Electronic)	9781509059928
DOIs	https://doi.org/10.23919/ACC.2017.7963223
State	Published - Jun 29 2017
Externally published	Yes
Event	2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2017 American Control Conference, ACC 2017
Country/Territory	United States
City	Seattle
Period	5/24/17 → 5/26/17

Bibliographical note

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).

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10.23919/ACC.2017.7963223

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Informative path planning under temporal logic constraints with performance guarantees. / Leahy, Kevin J.; Aksaray, Derya; Belta, Calin.
2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1859-1865 7963223 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Leahy, KJ, Aksaray, D & Belta, C 2017, Informative path planning under temporal logic constraints with performance guarantees. in 2017 American Control Conference, ACC 2017., 7963223, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 1859-1865, 2017 American Control Conference, ACC 2017, Seattle, United States, 5/24/17. https://doi.org/10.23919/ACC.2017.7963223

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Informative path planning under temporal logic constraints with performance guarantees

Abstract

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