Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally quantified locations, that has constant time with respect to the number of locations, enabling synthesis of plans for an arbitrary number of them. We propose a hybrid control framework that uses an iterator to manage the discretised workspace hiding it from a plan enacted by a discrete event controller. A downside of our approach is that it incurs in increased overhead when executing a synthesised plan. We demonstrate that the overhead is reasonable for missions of a fixed-wing Unmanned Aerial Vehicle in simulated and real scenarios for up to 700000 locations.
翻译:当规格涉及大量离散地点时,机器人系统的时间逻辑任务规划会受到国家爆炸的影响,我们提供了一种新颖的方法,特别适合具有普遍量化地点的任务规格,在地点数目方面有固定的时间,能够对其中任意数目的计划进行综合。我们提议了一个混合控制框架,使用一个循环器来管理离散工作空间,使其与离散事件控制员制定的计划相隔开。我们的方法的缺点是,在执行综合计划时,间接费用会增加。我们证明,在模拟和实际情景中,固定翼无人驾驶航空飞行器在多达700 000个地点的任务中,间接费用是合理的。