Our paper on cost-aware path planning under LTL is accepted to IEEE Robotics and Automation Letters (RA-L)

[2017.06.22]

The following paper is accepted to the IEEE Robotics and Automation Letters (RA-L):

  • Cost-Aware Path Planning under Co-Safe Temporal Logic Specifications by Kyunghoon Cho, Junghun Suh, Claire J. Tomlin, and Songhwai Oh
    • Abstract: This paper presents a path planning algorithm for generating a cost-efficient path which satisfies mission requirements specified in linear temporal logic (LTL). We assume that a cost function is defined over the configuration space. Examples of a cost function include hazard levels, wireless connectivity, and energy consumption, to name a few. The proposed method consists of two parts: (1) sampling-based cost-aware path planning considering the vehicle dynamics based on RRT, and (2) a high-level logic which determines how to extend the RRT tree based on the spatio-temporal specifications of an LTL formula. In order to find a low-cost trajectory with computational efficiency, the proposed method expand the RRT tree with long extensions using the cross entropy optimization method, while the rewiring step of RRT is used to preserve the asymptotic optimality. In simulation and experiments, we show that the proposed method performs favorably compared to existing methods.
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