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@inproceedings{991118,
author = {Svoreňová, Mária and Tůmová, Jana and Barnat, Jiří and Černá, Ivana},
address = {Neuveden},
booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control},
doi = {http://dx.doi.org/10.1109/CDC.2012.6426041},
keywords = {receding horizon planning; formal methods; control strategy synthesis; linear temporal logic; optimal planning},
howpublished = {elektronická verze "online"},
language = {eng},
location = {Neuveden},
isbn = {978-1-4673-2066-5},
pages = {6749-6754},
publisher = {Omnipress for the IEEE Control Systems Society},
title = {Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints},
url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6426041},
year = {2012}
}
TY - JOUR
ID - 991118
AU - Svoreňová, Mária - Tůmová, Jana - Barnat, Jiří - Černá, Ivana
PY - 2012
TI - Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints
PB - Omnipress for the IEEE Control Systems Society
CY - Neuveden
SN - 9781467320665
KW - receding horizon planning
KW - formal methods
KW - control strategy synthesis
KW - linear temporal logic
KW - optimal planning
UR - http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6426041
N2 - Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. The robot aims to accomplish a highlevel temporal logic surveillance mission and to locally optimize the collection of the rewards in the visited regions. These two objectives often conflict and only a compromise between them can be reached. We address this issue by taking into consideration a user-defined preference function that captures the trade-off between the importance of collecting high rewards and the importance of making progress towards a surveyed region. Our solution leverages ideas from the automata-based approach to model checking. We demonstrate the utilization of the suggested framework in an illustrative example.
ER -
SVOREŇOVÁ, Mária, Jana TŮMOVÁ, Jiří BARNAT and Ivana ČERNÁ. Attraction-Based Receding Horizon Path Planning with Temporal Logic Constraints. Online. In \textit{Proceedings of the 51st IEEE Conference on Decision and Control}. Neuveden: Omnipress for the IEEE Control Systems Society, 2012, p.~6749-6754. ISBN~978-1-4673-2066-5. Available from: https://dx.doi.org/10.1109/CDC.2012.6426041.
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