歩行計画arXiv:2008.13661
線形時相論理仕様を組み込んだ足配置計画
Footstep Planning with Encoded Linear Temporal Logic Specifications
線形時相論理(LTL)の仕様を混合整数二次制約二次計画問題にエンコードし、障害物のない領域間を安全に移動する足配置計画を生成する手法を提案した論文。
分類: cs.RO
原文アブストラクト
This article presents an approach to encode Linear Temporal Logic (LTL) Specifications into a Mixed Integer Quadratically Constrained Quadratic Program (MIQCQP) footstep planner. We propose that the integration of LTL specifications into the planner not only facilitates safe and desirable locomotion between obstacle-free regions, but also provides a rich language for high-level reasoning in contact planning. Simulations of the footstep planner in a 2D environment satisfying encoded LTL specifications demonstrate the results of this research.