research-article

Iterative temporal motion planning for hybrid systems in partially unknown environments

Authors:

Matthew R. Maly,

Morteza Lahijanian,

Lydia E. Kavraki,

Hadas Kress-Gazit,

Moshe Y. VardiAuthors Info & Claims

HSCC '13: Proceedings of the 16th international conference on Hybrid systems: computation and control

Pages 353 - 362

https://doi.org/10.1145/2461328.2461380

Published: 08 April 2013 Publication History

Abstract

This paper considers the problem of motion planning for a hybrid robotic system with complex and nonlinear dynamics in a partially unknown environment given a temporal logic specification. We employ a multi-layered synergistic framework that can deal with general robot dynamics and combine it with an iterative planning strategy. Our work allows us to deal with the unknown environmental restrictions only when they are discovered and without the need to repeat the computation that is related to the temporal logic specification. In addition, we define a metric for satisfaction of a specification. We use this metric to plan a trajectory that satisfies the specification as closely as possible in cases in which the discovered constraint in the environment renders the specification unsatisfiable. We demonstrate the efficacy of our framework on a simulation of a hybrid second-order car-like robot moving in an office environment with unknown obstacles. The results show that our framework is successful in generating a trajectory whose satisfaction measure of the specification is optimal. They also show that, when new obstacles are discovered, the reinitialization of our framework is computationally inexpensive.

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Cited By

Perrault NHo QLahijanian M(2025)Kino-PAX: Highly Parallel Kinodynamic Sampling-Based PlannerIEEE Robotics and Automation Letters10.1109/LRA.2025.353115210:3(2430-2437)Online publication date: Mar-2025
https://doi.org/10.1109/LRA.2025.3531152
Guo HWu FQin YLi RLi KLi K(2023)Recent Trends in Task and Motion Planning for Robotics: A SurveyACM Computing Surveys10.1145/358313655:13s(1-36)Online publication date: 13-Jul-2023
https://dl.acm.org/doi/10.1145/3583136
Shamsah AGu ZWarnke JHutchinson SZhao Y(2023)Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.329952439:6(4913-4934)Online publication date: Dec-2023
https://doi.org/10.1109/TRO.2023.3299524
Show More Cited By

Index Terms

Iterative temporal motion planning for hybrid systems in partially unknown environments
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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cover image ACM Conferences

HSCC '13: Proceedings of the 16th international conference on Hybrid systems: computation and control

April 2013

378 pages

ISBN:9781450315678

DOI:10.1145/2461328

Program Chairs:
Calin Belta
Boston University, USA
,
Franjo Ivančić
NEC Laboratories America, USA

Copyright © 2013 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IEEE Signal Processing Society
SIGBED: ACM Special Interest Group on Embedded Systems

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 08 April 2013

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HSCC '13

Sponsor:

SIGBED

HSCC '13: Computation and Control

April 8 - 11, 2013

Pennsylvania, Philadelphia, USA

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HSCC '13 Paper Acceptance Rate 40 of 86 submissions, 47%;

Overall Acceptance Rate 153 of 373 submissions, 41%

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Cited By

Perrault NHo QLahijanian M(2025)Kino-PAX: Highly Parallel Kinodynamic Sampling-Based PlannerIEEE Robotics and Automation Letters10.1109/LRA.2025.353115210:3(2430-2437)Online publication date: Mar-2025
https://doi.org/10.1109/LRA.2025.3531152
Guo HWu FQin YLi RLi KLi K(2023)Recent Trends in Task and Motion Planning for Robotics: A SurveyACM Computing Surveys10.1145/358313655:13s(1-36)Online publication date: 13-Jul-2023
https://dl.acm.org/doi/10.1145/3583136
Shamsah AGu ZWarnke JHutchinson SZhao Y(2023)Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.329952439:6(4913-4934)Online publication date: Dec-2023
https://doi.org/10.1109/TRO.2023.3299524
Jiang JCoogan SZhao Y(2023)Abstraction-Based Planning for Uncertainty-Aware Legged NavigationIEEE Open Journal of Control Systems10.1109/OJCSYS.2023.32960002(221-234)Online publication date: 2023
https://doi.org/10.1109/OJCSYS.2023.3296000
Ho QSunberg ZLahijanian M(2023)Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides2023 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48891.2023.10160897(5723-5729)Online publication date: 29-May-2023
https://doi.org/10.1109/ICRA48891.2023.10160897
Zhu XLian WYuan BFreeman CTomizuka M(2023)Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces2023 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48891.2023.10160649(8120-8126)Online publication date: 29-May-2023
https://doi.org/10.1109/ICRA48891.2023.10160649
Kalluraya SPappas GKantaros Y(2023)Multi-Robot Mission Planning in Dynamic Semantic Environments2023 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48891.2023.10160344(1630-1637)Online publication date: 29-May-2023
https://doi.org/10.1109/ICRA48891.2023.10160344
Hashimoto KTsumagari NUshio T(2022)Collaborative Rover-copter Path Planning and Exploration with Temporal Logic Specifications Based on Bayesian Update Under Uncertain EnvironmentsACM Transactions on Cyber-Physical Systems10.1145/34704536:2(1-24)Online publication date: 11-Apr-2022
https://dl.acm.org/doi/10.1145/3470453
Kantaros YKalluraya SJin QPappas G(2022)Perception-Based Temporal Logic Planning in Uncertain Semantic MapsIEEE Transactions on Robotics10.1109/TRO.2022.314407338:4(2536-2556)Online publication date: Aug-2022
https://doi.org/10.1109/TRO.2022.3144073
Tzes MVasilopoulos VKantaros YPappas G(2022)Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9811642(7320-7326)Online publication date: 23-May-2022
https://doi.org/10.1109/ICRA46639.2022.9811642
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