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Perception-Based Temporal Logic Planning in Uncertain Semantic Maps
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DOI：10.1109/TRO.2022.3144073.png)
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Abstract
En 中文
In this article, we address a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have a known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain positions and classes. This modeling approach gives rise to an uncertain semantic map generated by semantic simultaneous localization and mapping algorithms. Our goal is to design control policies for robots equipped with noisy perception systems so that they can accomplish collaborative tasks captured by global temporal logic specifications. To specify missions that account for environmental and perceptual uncertainty, we employ a fragment of linear temporal logic (LTL), called co-safe LTL, defined over perception-based atomic predicates modeling probabilistic satisfaction requirements. The perception-based LTL planning problem gives rise to an optimal control problem, solved by a novel sampling-based algorithm, that generates open-loop control policies that are updated online to adapt to a continuously learned semantic map. We provide extensive experiments to demonstrate the efficiency of the proposed planning architecture.
Keywords:
Semantics
Robots
Robot sensing systems
Planning
Uncertainty
Task analysis
Sensors
Motion planning
multi-robot systems
sensor-based and reactive planning
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W