Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences
Hao Wang,Haoyuan He,Weiwei Shang,Zhen Kan,Hao Wang,Haoyuan He,Weiwei Shang,Zhen Kan
Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond point-to-point motion planning, this work presents temporal logic guided optimization of motion primitives, namely $\mathbf{PI}^{\mathbf{BB}-\mathbf{TL}}$ algor...
