Task Planning and Motion Control with Temporal Logic Specifications
Marcos S. Pereira,Luciano C. A. Pimenta,Bruno V. Adorno,Marcos S. Pereira,Luciano C. A. Pimenta,Bruno V. Adorno
This paper proposes a task planning and motion control framework that generates task plans for a linear temporal logic specification (LTL), which are then executed using a task-space constrained motion controller and a local task planner that overcomes local minima. We propose a new encoding for task specifications, directly in the task-space, as constraints of a mixed-integer linear program that ...
