Sampling-based path planning under temporal logic constraints with real-time adaptation
Yizhou Chen,Ruoyu Wang,Xinyi Wang,Ben M. Chen,Yizhou Chen,Ruoyu Wang,Xinyi Wang,Ben M. Chen
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and partially unknown environments. Given prior knowledge and a task specification, the planner first identifies an initial feasible solution by growing a sampling-based s...
