Iterative Temporal Planning in Uncertain Environments With Partial Satisfaction Guarantees.
IEEE Transactions on Robotics(2016)
摘要
This paper introduces a motion-planning framework for a hybrid system with general continuous dynamics to satisfy a temporal logic specification consisting of cosafety and safety components in a partially unknown environment. The framework employs a multilayered synergistic planner to generate trajectories that satisfy the specification and adopt an iterative replanning strategy to deal with unkno...
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关键词
Robots,Safety,Planning,Buildings,Dynamics,US Government
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