Table of contents

Definition

Symbolic robot motion planning and control is the problem of automatic construction of robot control strategies from task specification given in high-level, human-like language. --ref. C.Belta etc, [2007]

Problem Formulation

Items
Content
Example
Input
Task specification

high-level language

LTL
Output
Control strategy
velocities of robots
Constraint
  • robot constraints
  • complexity of the environment
  • Kinematics & dynamics of robots
  • various environments
Property
Systematic, provably correct
Hybrid Systems

Framework

References

  1. C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, and G. J. Pappas,Symbolic Planning and Control of Robot Motion, IEEE Robotics and Automation Magazine - special issue on Grand Challenges of Robotics, vol. 14, no. 1, pp. 61-71, 2007. A recent good paper overviews this topic and make a basic for this discussion, there was a corresponding workshop for this topic in Robotics:Science and Systems 2006.

Discussions

Group members

I have not made any contribution for this topic so far. So I hesitated for a moment before adding this page. Hope it has a little help for the real contributors. :)