Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
Panagiotis Rousseas, Dimos V. Dimarogonas
TLDR
This paper introduces a hybrid control method for motion planning under Signal Temporal Logics, unifying planning and control while avoiding deadlocks.
Key contributions
- Proposes a novel hybrid control method for planar task and motion planning.
- Uses a discrete variable for local feasibility analysis, unifying planning and control design.
- Designs control barrier functions on a transformed workspace to prevent deadlocks.
- Effectively handles multiple overlapping spatio-temporal tasks with input saturation.
Why it matters
This research unifies planning and control for complex robotic tasks, addressing critical issues like deadlocks and input saturation. It offers a robust solution for motion planning under temporal logic specifications, enhancing robot autonomy.
Original Abstract
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation.
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